Powered joint orthosis
AssigneeBionx Medical Technologies, Inc.
InventorsZhixiu Han, Christopher E. Barnhart, Hugh M. Herr, Christopher Williams, Jeff A. Weber, Richard J. Casler, Jr.
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Abstract
A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.
Claims29
A powered device for augmenting a joint function of a human during a gait cycle, the powered device comprising:
- a powered actuator for supplying an augmentation torque and an impedance to a joint;
- and
- a controller programmed to modulate the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response, wherein the controller is programmed to:
- compute a normalized biomimetic torque for the phase of the gait cycle, the normalized biomimetic torque according to a speed of ambulation, a terrain, or both a speed of ambulation and a terrain;
- retrieve a state-specific attenuation factor for the phase of the gait cycle;
- scale the normalized biomimetic torque based on the state-specific attenuation factor to determine the augmentation torque;
- and
- add the augmentation torque to a wearer torque response to approximate the biomimetic response.
Dependencies are inferred from the claim text.