# US 2014/0195007 A1 · Powered leg prosthesis and control methodologies for obtaining near normal gait > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195007 A1 - Document ID: US20140195007A1 - Status: Published application - Kind: A1 - Application number: 14/148,085 - Filed: 2014-01-06 - Published: 2014-07-10 - Earliest claimed: 2008-04-21 - Assignees: Vanderbilt University - Inventors: Michael Goldfarb; Huseyin Atakan Varol; Frank Charles Sup, IV; Jason E. Mitchell; Thomas J. Withrow - Web page: https://patentgrep.com/patent/US20140195007A1 ## CPC - A61F 2/66: Feet; Ankle joints - A61F 2/60: Artificial legs or feet or parts thereof - A61F 2/64: Knee joints - A61F 2/72: Bioelectric control, e.g. myoelectric - A61F 2/6607: {Ankle joints} - A61F 2002/30359: {Pyramidally- or frustopyramidally-shaped protrusion and recess} - A61F 2002/5073: {Helical springs, e.g. having at least one helical spring} - A61F 2002/6642: {Heels} - A61F 2002/665: {Soles} - A61F 2002/6657: {having a plate-like or strip-like spring element, e.g. an energy-storing cantilever spring keel} - A61F 2002/6836: {Gears specially adapted therefor, e.g. reduction gears} - A61F 2002/701: {operated by electrically controlled means, e.g. solenoids or torque motors} - A61F 2002/704: {computer-controlled, e.g. robotic control} - A61F 2002/705: {Electromagnetic data transfer} - A61F 2002/7625: {for measuring angular position} - A61F 2002/7635: {for measuring force, pressure or mechanical tension} - A61F 2002/764: {for measuring acceleration} - A61F 2002/7645: {for measuring torque, e.g. hinge or turning moment, moment of force} - A61F 2002/768: {for measuring battery status} - A61F 2220/0033: made by longitudinally pushing a protrusion into a complementary-shaped recess, e.g. held by friction fit - 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 powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint. The prosthesis further includes a prosthetic foot coupled to the ankle joint, at least one sensor for measuring a real-time input, and at least one controller for controlling movement of the prosthesis based on the real-time input. ## Claims ### Claim at position 1 1-25. (canceled) ### Claim 26 A prosthesis, comprising: a powered joint including a joint and a motor unit configured to deliver power to the joint; at least one sensor configured to measure at least one real-time input; and a controller electronically connected to the powered joint and configured to: determine a passive portion of a joint torque for the joint, the passive portion being based on a passive function of at least one of an angle of the joint and an angular velocity of the joint; determine an active portion of the joint torque for the joint, the active portion being based on an active function of the at least one real-time input; and control movement of the motor unit based on the passive portion and the active portion of the joint torque. ### Claim 27 (depends on 26) The prosthesis of claim 26, wherein the at least one real-time input results from an interaction between a user and the prosthesis. ### Claim 28 (depends on 26) The prosthesis of claim 26, wherein the passive portion has a spring-dashpot behavior. ### Claim 29 (depends on 26) The prosthesis of claim 26, wherein the controller is further configured to determine the active and passive portions of the joint torque by solving a constrained optimization problem. ### Claim 30 (depends on 26) The prosthesis of claim 26, wherein the controller is further configured to generate control signals for controlling movement of the motor unit based on a difference between the active portion of the joint torque and the passive portion of the joint torque. ### Claim 31 (depends on 30) The prosthesis of claim 30, wherein the controller is further configured to modulate the control signals based on the at least one real-time input to smooth transition behavior within a current gait for the prosthesis or between a previous gait and the current gait for the prosthesis. ### Claim 32 (depends on 26) The prosthesis of claim 26, further comprising a prosthetic foot including a ball and a heel, wherein the at least one sensor is configured to measure a sagittal plane moment and ground interaction forces at the ball and the heel. ### Claim 33 A leg prosthesis, comprising: a powered knee joint including a knee joint and a knee motor unit configured to deliver power to the knee joint; a powered ankle joint including an ankle joint and an ankle motor unit configured to deliver power to the ankle joint; at least one sensor configured to measure at least one real-time input; and a controller electronically connected to the powered knee joint and the powered ankle joint, the controller configured to: determine a passive portion of a knee joint torque for the knee joint, the passive portion being based on a passive function of at least one of an angle of the knee joint and an angular velocity of the knee joint; determine an active portion of the knee joint torque for the knee joint, the active portion being based on an active function of the at least one real-time input; control movement of the knee motor unit based on the active portion and the passive portion of the knee joint torque; determine a passive portion of an ankle joint torque for the ankle joint, the passive portion of the ankle joint torque being based on a passive function of at least one of an angle of the ankle joint and an angular velocity of the ankle joint; determine an active portion of the ankle joint torque for the ankle joint, the active portion of the ankle joint torque being based on an active function of the at least one real-time input; and control movement of the ankle motor unit based on the active portion and the passive portion of the ankle joint torque. ### Claim 34 (depends on 33) The leg prosthesis of claim 33, wherein the at least one real-time input results from an interaction between a user and the leg prosthesis. ### Claim 35 (depends on 33) The leg prosthesis of claim 33, wherein the passive portion of the knee joint torque and the passive portion of the ankle joint torque each have a spring-dashpot behavior. ### Claim 36 (depends on 33) The leg prosthesis of claim 33, wherein the controller is further configured to: determine the active and passive portions of the knee joint torque by solving a first constrained optimization problem; and determine the active and passive portions of the ankle joint torque by solving a second constrained optimization problem. ### Claim 37 (depends on 33) The leg prosthesis of claim 33, wherein the controller is further configured to: generate control signals for controlling movement of the knee motor unit based on a difference between the active portion of the knee joint torque and the passive portion of the knee joint torque; and generate control signals for controlling movement of the ankle motor unit based on a difference between the active portion of the ankle joint torque and the passive portion of the ankle joint torque. ### Claim 38 (depends on 37) The leg prosthesis of claim 37, wherein the controller is further configured to: modulate the control signals for controlling movement of the knee motor unit based on the at least one real-time input to smooth transition behavior within a current gait for the leg prosthesis or between a previous gait and the current gait for the leg prosthesis; and modulate the control signals for controlling movement of the ankle motor unit based on the at least one real-time input to smooth transition behavior within the current gait for the leg prosthesis or between the previous gait and the current gait for the leg prosthesis. ### Claim 39 (depends on 33) The leg prosthesis of claim 33, further comprising a prosthetic foot including a ball and a heel, wherein the at least one sensor is configured to measure a sagittal plane moment and ground interaction forces at the ball and the heel. ### Claim 40 A control system for controlling a powered joint of a prosthesis, the control system comprising: at least one sensor configured to measure at least one real-time input; and a controller electronically connected to the powered joint and configured to: determine a passive portion of a joint torque for the powered joint, the passive portion being based on a passive function of at least one of an angle of the powered joint and an angular velocity of the powered joint; determine an active portion of the joint torque for the powered joint, the active portion being based on an active function of the at least one real-time input; and control movement of the powered joint based on the passive portion and the active portion of the joint torque. ### Claim 41 (depends on 40) The control system of claim 40, wherein the at least one real-time input results from an interaction between a user and the prosthesis. ### Claim 42 (depends on 40) The control system of claim 40, wherein the passive portion has a spring-dashpot behavior. ### Claim 43 (depends on 40) The control system of claim 40, wherein the controller is further configured to determine the active and passive portions of the joint torque by solving a constrained optimization problem. ### Claim 44 (depends on 40) The control system of claim 40, wherein the controller is further configured to generate control signals for controlling movement of the powered joint based on a difference between the active portion of the joint torque and the passive portion of the joint torque. ### Claim 45 (depends on 40) The control system of claim 40, wherein the controller is further configured to modulate the control signals based on the at least one real-time input to smooth transition behavior within a current gait for the prosthesis or between a previous gait and the current gait for the prosthesis.