Unified controller for powered ankle assistive devices

A powered ankle assistive device, comprising:

• an ankle joint assembly configured to be coupled between an upper support member and a lower support member;
• an actuator associated with the ankle joint assembly and configured to move the lower support member with respect to the upper support member;
• angle sensors comprising:
• an ankle angle sensor located at the ankle joint assembly and configured to sense an ankle angle of the ankle joint assembly,
• a shank angle sensor located at a shank associated with the ankle joint assembly and configured to sense a shank angle of the upper support member,
• a knee angle sensor located at a knee associated with the ankle joint assembly and configured to sense a knee angle of a knee associated with the ankle joint assembly, and
• a thigh angle sensor located at a thigh associated with the ankle joint assembly and configured to sense a thigh angle of a thigh associated with the ankle joint assembly;
• and
• a controller associated with the ankle joint assembly and configured to:
• receive angle data from the angle sensors comprising the ankle angle, the shank angle, the knee angle and the thigh angle;
• determine a positive dorsiflexion torque based on the—ankle angle, the shank angle, the knee angle and the thigh angle associated with a swing and the control signal enables the actuator to apply the positive dorsiflexion torque between the ankle joint assembly and the lower support member;
• determine a positive dorsiflexion torque or a negative plantarflexion torque based on the ankle angle, the shank angle, the knee angle and the thigh angle associated with a stance or a propulsive phase of gait and the control signal enables the actuator to apply the positive dorsiflexion torque or the negative plantarflexion torque between the ankle joint assembly and the lower support member;
• and
• generate a control signal to the actuator to enable the actuator to apply the torque between the ankle joint assembly and the lower support member.

A powered ankle prosthesis device, comprising:

• an ankle joint assembly configured to be coupled between a shank and a prosthetic foot member;
• an actuator associated with the ankle joint assembly and configured to move the prosthetic foot member with respect to the shank;
• angle sensors comprising an ankle angle sensor located at the ankle joint assembly and configured to sense an ankle angle of the ankle joint assembly, a shank angle sensor located at the shank associated with the ankle joint assembly and configured to sense a shank angle of the upper support member, a knee angle sensor located at a knee associated with the ankle joint assembly and configured to sense a knee angle of a knee associated with the ankle joint assembly, and a thigh angle sensor located at a thigh associated with the ankle joint assembly and configured to sense a thigh angle of a thigh associated with the ankle joint assembly;
• and
• a controller associated with the ankle joint assembly and configured to:
• receive angle data from the angle sensors comprising the ankle angle, the shank angle, the knee angle and the thigh angle;
• determine a torque to be applied by the actuator between the ankle joint assembly and the prosthetic foot member based on the ankle angle, the shank angle, the knee angle and the thigh angle;
• and
• generate a control signal to the actuator to enable the actuator to apply the torque between the ankle joint assembly and the prosthetic foot member.