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US 2024/0366406 A1Published application
Variable Transmission For Assistive Prosthesis Device
AssigneeUniversity of Utah Research Foundation
InventorsTommaso Lenzi, Minh Tran, Marco Cempini
Life of this patent
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Abstract
The present disclosure describes transmission systems for use in artificial joints of assistive devices, such as assistive prostheses, orthoses, and powered exoskeletons. A variable transmission is configured to automatically or manually adapt the torque profile to the demand of different locomotion tasks, such as a relatively high torque and low speed profile for a task such as standing up or ascending stairs, or a relatively low torque and high speed profile for a task such as walking.
Claims20
An assistive device, comprising:
- an artificial joint;
- an actuation mechanism coupled to the artificial joint and operable to rotate the artificial joint;
- a first motor configured to operate the actuation mechanism;
- and
- a transmission mechanism coupled to the artificial joint, the transmission mechanism including a crank having a variable configuration such that in a first configuration of the crank, in which the crank has a first crank length, the artificial joint is configured to operate at a first torque profile and a first speed profile, and in a second configuration of the crank, in which the crank has a second crank length, the artificial joint is configured to operate at a second torque profile and a second speed profile that are different from the first torque profile and the first speed profile, respectively, wherein the transmission mechanism is movable about and between the first configuration and the second configuration in response to a torque applied to the artificial joint,
- wherein the transmission mechanism comprises a passively variable element that is connected to the artificial joint and to the actuation mechanism, wherein the passively variable element is variable as the crank moves between the first and second configurations in response to a power input, wherein the passively variable element is configured to store potential energy as a result of varying in response to the power input, and is operable to assist in powering rotation of the artificial joint through release of the stored potential energy.
3 more elements
A method comprising:
- actuating a transmission mechanism coupled to an artificial joint of an assistance device, the assistance device comprising:
- the artificial joint;
- an actuation mechanism coupled to the artificial joint and operable to rotate the artificial joint;
- a first motor configured to operate the actuation mechanism;
- and
- the transmission mechanism, wherein the transmission mechanism comprises a crank having a variable configuration such that in a first configuration of the crank, in which the crank has a first crank length, the artificial joint is configured to operate at a first torque profile and a first speed profile, and in a second configuration of the crank, in which the crank has a second crank length, the artificial joint is configured to operate at a second torque profile and a second speed profile that are different from the first torque profile and the first speed profile, respectively,
- wherein the transmission mechanism comprises a passively variable element that is connected to the artificial joint and to the actuation mechanism, wherein the passively variable element is variable as the crank moves between the first and second configurations in response to a power input, wherein the passively variable element is configured to store potential energy as a result of varying in response to the power input, and is operable to assist in powering rotation of the artificial joint through release of the stored potential energy,
- wherein actuating the transmission mechanism comprises applying a torque to the joint to move the transmission mechanism between the first and second configurations.
5 more elements
Dependencies are inferred from the claim text.