Orthotic brace

A brace for a joint between two limbs of an animal, comprising:

• a first attachment member for coupling to the exterior of the first limb;
• a second attachment member for coupling to the exterior of the second limb;
• a four bar linkage for determining the kinematics of the first member relative to the motion of the second member;
• and
• a damper for resisting the pivotal motion of the first member relative to the motion of the second member;
• wherein said first attachment member includes a rigid portion defining a pocket having a first shape, said second attachment member includes a rigid portion defining a pocket having a second shape, and said four bar linkage includes a first link having a peripheral shape corresponding to the shape of said first pocket, a second link having a peripheral shape corresponding to the shape of said second pocket, a third link pivotally connected to said first link and said second link, and a fourth link pivotally connected to said first link and said second link;
• and
• wherein said first attachment member couples to a thigh, said second attachment member couples to a calf, said first attachment member includes a rigid, partial hoop shape positioned at the posterior of the first limb and open across the anterior of the first limb, said second attachment member includes a rigid, partial hoop shape positioned at the posterior of the second limb and open across the anterior of the second limb.

A method for rehabilitating an animal joint, comprising:

• providing a brace for a joint between two limbs of an animal, comprising:
• a first limb attachment member for coupling to the exterior of the first limb;
• a second limb attachment member for coupling to the exterior of the second limb;
• a four bar linkage for determining the kinematics of the first limb attachment member relative to the motion of the second limb attachment member;
• and
• a damper for resisting the pivotal motion of the first limb attachment member relative to the motion of the second limb attachment member;
• wherein said first limb attachment member includes a rigid portion defining a pocket having a first shape, said second limb attachment member includes a rigid portion defining a pocket having a second shape, and said four bar linkage includes a first link having a peripheral shape corresponding to the shape of said first pocket, a second link having a peripheral shape corresponding to the shape of said second pocket, a third link pivotally connected to said first link and said second link, and a fourth link pivotally connected to said first link and said second link;
• an electrically-actuatable resistive force device interconnecting the first limb and second limb attachment members,
• an electronic controller having memory and being operably connected to the resistive force device, and
• a sensor in electrical communication with the controller;
• sensing movement of one of the limb attachment members with the sensor;
• storing a history of the sensed movement in the memory;
• and
• modifying the resistive force characteristics of the resistive force device by the controller and in response to the history.

An apparatus attached proximate to a joint between two limbs of an animal, comprising:

• a first attachment member for coupling around the exterior of the first limb;
• a second attachment member for coupling around the exterior of the second limb and pivotally connected to said first attachment member;
• an electrically-actuatable resistive force device having a forcing characteristic which resists the motion of said first member relative to the motion of said second member, the forcing characteristic capable of being modified by an input command;
• a sensor for sensing a parameter resulting from movement of one of said first member or said second member and producing a signal corresponding to the parameter;
• an electronic controller operably connected to said resistive force device and receiving the signal, said controller providing the command in response to the signal;
• a four bar linkage for determining the kinematic motion of said first member relative to the second member;
• a first attachment member for coupling to the exterior of the first limb, said first member including a first rigid portion positioned at the posterior of the first limb;
• a second attachment member for coupling to the exterior of the second limb, said second member including a second rigid portion positioned at the posterior of the second limb, said second rigid portion being pivotally connected to said first rigid portion;
• and
• wherein said first rigid portion has a partial hoop shape open across the anterior of the first limb, said second rigid portion has a partial hoop shape open across the anterior of the second limb, said first attachment member includes a first flexible strap attachable to said first rigid portion, and said second attachment member includes a second flexible strap attachable to said second rigid potion.