1. A method for controlling throughout a gait cycle at least one of joint position, impedance or torque of a lower-extremity prosthetic, orthotic, or exoskeleton apparatus worn by a wearer based on an inertially-referenced, intra-cycle trajectory of a portion of the apparatus over underlying terrain.
2. The method of claim 1, wherein the apparatus comprises a foot member, a lower leg member, and an ankle joint for connecting the foot member to the lower leg member.
3. The method of claim 1, wherein the apparatus comprises a lower leg member, a thigh member, and a knee joint for connecting the lower leg member to the thigh member.
4. The method of claim 1, wherein the apparatus comprises a thigh member, a torso member, and a hip joint for connecting the thigh member to the torso member.
5. The method of claim 2, wherein the apparatus comprises a thigh member and a knee joint for connecting the lower leg member to the thigh member.
6. The method of claim 5, wherein the apparatus comprises a torso member, and a hip joint for connecting the thigh member to the torso member.
7. The method of claim 3, wherein the apparatus comprises a torso member, and a hip joint for connecting the thigh member to the torso member.
8. The method of claim 2, wherein the trajectory is determined for the lower leg member.
9. The method of claim 8, wherein the trajectory is determined based on an inertial pose of the lower leg member and an angle between the foot member and lower leg member.
10. The method of claim 2, comprising adjusting the spring equilibrium position of the foot member to a foot-flat position relative to the underlying terrain to coincide with the lower leg member being in a vertical position relative to a world coordinate system.
11. The method of claim 2, comprising adjusting the impedance of the apparatus to minimize a cost function based on projected force imparted on the lower leg member during a period of time between when a foot member strikes the underlying terrain and when the foot member is positioned in a flat-foot position relative to the underlying terrain.
12. The method of claim 2, comprising adjusting the impedance of the apparatus to minimize a cost function based on projected force imparted on the lower leg member during a period of time between when a foot member strikes the underlying terrain to when the foot member is positioned in a flat-foot position relative to the underlying terrain.
13. The method of claim 12, wherein adjusting the impedance of the apparatus minimizes foot slap of the foot member.
14. The method of claim 2, comprising adjusting the position of the foot member to a toe down position relative to the underlying terrain based on the trajectory of the lower leg member.
15. The method of claim 14, wherein the trajectory of the lower leg member is representative of trajectory when the underlying surface comprises one or more stairs.
16. The method of claim 1, wherein the at least one of joint position, impedance or torque is updated continuously during the gait cycle by a processor in communication with at least one sensor and one actuator of the apparatus.
17. The method of claim 1, comprising controlling impedance and torque on the joint of the apparatus during a late stance phase of the gait cycle based on at least one of ambulation speed, terrain context or terrain texture.
18. The method of claim 17, wherein the impedance and torque are controlled to achieve a desired amount of work.
19. The method of claim 1, comprising adjusting impedance of the apparatus during a controlled plantar flexion phase of the gait cycle to minimize forefoot collisions with the underlying terrain.
20. The method of claim 1, comprising controlling the at least one of joint position, impedance or torque of the apparatus based on speed of a portion the apparatus.
21. The method of claim 20, wherein the apparatus is a lower-leg apparatus and the portion is a location between a knee joint and ankle joint of the lower-leg apparatus.
22. The method of claim 1, comprising controlling throughout the gait cycle at least two of the joint position, the impedance or the torque.
23. The method of claim 1, comprising controlling throughout the gait cycle the joint position, the impedance and the torque.
24. A method for controlling at least one of joint impedance, position or torque of a lower-extremity prosthetic, orthotic or exoskeleton apparatus worn by a wearer during intra-cycle ambulation, the method comprising:
determining trajectory of a location between an ankle joint and knee joint of the apparatus in a coordinate system throughout a walking cycle; and
adjusting the articulation of a foot member of the apparatus based on the trajectory.
25. The method of claim 24, wherein the apparatus the ankle joint connects the foot member to a first end of the lower leg member of the apparatus and the knee joint is connected to an opposite end of the lower leg member.
26. The method of claim 24, wherein the location is the ankle joint.
27. The method of claim 24, comprising adjusting the articulation of the foot member to a heel down position when the predetermined condition is representative of the presence of level ground, an ascending ramp, or a descending ramp in underlying terrain.
28. The method of claim 24, comprising adjusting the articulation of the foot member to a toe down position when the predetermined condition is indicative of the presence of an ascending stair or a descending stair in underlying terrain.
29. The method of claim 24, wherein the foot member is adjusted to a dorsiflexed position relative to a lower leg member of the apparatus when the predetermined condition is representative of the presence of an ascending stair.
30. The method of claim 24, wherein the foot member is adjusted to a plantar flexed position relative to a lower leg member of the apparatus when the predetermined condition is representative of the presence of a descending stair.
31. The method of claim 24, comprising:
adjusting the articulation of the foot member to a heel down position when the predetermined condition is representative of the presence of level ground, an ascending ramp, or a descending ramp in underlying terrain; and
adjusting the articulation of the foot member to a toe down position when the predetermined condition is representative of the presence of an ascending stair or a descending stair in underlying terrain.
32. The method of claim 24, wherein the trajectory is determined based on an inertial pose of a lower leg member of the apparatus and an angle between the foot member and lower leg member.
33. The method of claim 24, comprising adjusting the articulation of the foot member of the apparatus to a predetermined orientation when the trajectory satisfies a predetermined condition.
34. An active lower extremity prosthetic, orthotic or exoskeleton apparatus, comprising:
a foot member;
a lower leg member;
an ankle joint for connecting the foot member to the lower leg member;
a first actuator for applying torque to the ankle joint to rotate the foot member with respect to the lower leg member; and
an inertial measurement unit for determining an inertial pose of the lower leg member;
a torque sensor for determining torque applied to the lower leg member by the actuator;
a force sensor for determining axial force applied to the lower leg member;
an angle sensor for determining an angle between the foot member and lower leg member;
a controller for controlling the actuator for modulating at least one of joint impedance, position or torque of the apparatus throughout a walking cycle of the apparatus based on the inertial pose, torque, axial force and angle.
35. The apparatus of claim 95, comprising one or more passive elastic members connected between the lower leg member and the foot member for storing energy when the foot member rotates about the ankle joint toward the lower leg member and for releasing energy to apply additional torque to rotate the foot member away from the lower leg member.
36. The apparatus of claim 35, wherein the one or more passive elastic members is attached to the apparatus in parallel with the actuator.
37. The apparatus of claim 36, wherein the one or more passive elastic members is a unidirectional spring and is not engaged during plantar flexion of the foot member relative to the lower leg member.
38. The apparatus of claim 34, wherein the actuator includes a series elastic actuator.
39. The apparatus of claim 38, wherein the series elastic actuator comprises a brushless motor that drives a ball-screw, a carbon-fiber spring in series with an output of the ball-screw, and a strain sensor coupled to the spring.
40. The apparatus of claim 34, wherein the inertial measurement unit comprises a three-axis rate gyro and a three-axis accelerometer.
41. The apparatus of claim 34, comprising a structural element coupled to the lower leg member and comprising an interface for coupling to a limb socket member of a wearer, wherein the structural element comprises a plurality of strain gages for determining the torque applied to the lower leg member by the actuator and the axial force applied to the lower leg member.
42. The apparatus of claim 34, wherein the actuator adjusts stiffness of the apparatus during controlled plantar flexion phase of the walking cycle to minimize forefoot collisions with an underlying surface.
43. The apparatus of claim 34, wherein the actuator controls impedance and torque on the ankle joint of the apparatus during a late stance phase of the walking cycle based on at least one of ambulation speed, terrain context or terrain texture.
44. The apparatus of claim 34, wherein the actuator modulates impedance of the apparatus based on a ground reaction force and zero moment pivot coordinates imparted by an underlying surface onto the foot member, the inertial pose of the lower leg member, the torque applied to the lower leg member by the actuator, the axial force applied to the lower leg member, and the angle between the foot member and lower leg member.
45. The apparatus of claim 34, wherein the actuator modulates the impedance of the apparatus as the wearer stands up from a seated position or sits down from a standing position based on the inertial pose of the lower leg member, the angle between the foot member and lower leg member, and the ground reaction force and zero moment pivot coordinates.
46. The apparatus of claim 34, wherein the apparatus is used to treat drop foot gait.
47. The apparatus of claim 34, wherein the apparatus is used to treat a wearer having anterior muscle weakness, posterior muscle weakness, or a combination thereof.
48. The apparatus of claim 34, comprising:
a thigh member;
a knee joint for connecting the thigh member to the lower leg member;
a second actuator for applying torque to the knee joint to rotate the lower leg member with respect to the thigh member;
a second inertial measurement unit for determining an inertial pose of the thigh member;
a second torque sensor for determining torque applied to the thigh member by the second actuator;
a second force sensor for determining axial force applied to the thigh member; and
a second angle sensor for determining an angle between the thigh member and lower leg member,
wherein the controller controls the first and second actuator for modulating an impedance of the apparatus throughout a walking cycle of the apparatus based on the inertial pose, torque, axial force and angle determined using the first and second devices.
49. The apparatus of claim 48, comprising:
a torso member;
a hip joint for connecting the torso member to the thigh member;
a third actuator for applying torque to the hip joint to rotate the thigh member with respect to the torso member;
a third inertial measurement unit for determining an inertial pose of the torso member;
a third torque sensor for determining torque applied to the torso member by the third actuator;
a third force sensor for determining axial force applied to the torso member; and
a third angle sensor for determining an angle between the torso member and the thigh member,
wherein the controller controls the first, second and third actuator for modulating an impedance of the apparatus throughout a walking cycle of the apparatus based on the inertial pose, torque, axial force and angle determined using the first, second, and third devices.
50. The apparatus of claim 34, wherein the lower leg member is attachable to a leg of the wearer.
51. The apparatus of claim 34, wherein the foot member is attachable to a foot of the wearer.
52. The apparatus of claim 48, wherein the thigh member is attachable to a thigh of the wearer.
53. The apparatus of claim 34, wherein the controller controls the actuator to modulate at least two of joint impedance, position or torque of the apparatus throughout a walking cycle of the apparatus.
54. The apparatus of claim 34, wherein the controller controls the actuator to modulate joint impedance, position and torque of the apparatus throughout a walking cycle of the apparatus.
55. A method of operating a lower-extremity prosthesis or orthosis apparatus, the apparatus having a foot member and an ankle joint, the method comprising the steps of:
tracking a trajectory of a portion of the apparatus;
determining whether the tracked trajectory corresponds to stairs;
optimizing operation of the apparatus for locomotion on stairs, in situations where the tracked trajectory corresponds to stairs;
determining whether the tracked trajectory corresponds to non-stair terrain; and
optimizing operation of the apparatus for locomotion on non-stair terrain, in situations where the tracked trajectory corresponds to non-stair terrain.
56. The method of claim 55, wherein the step of determining whether the tracked trajectory corresponds to stairs comprises determining that a velocity vector attack angle \u03a8 of the ankle joint in a late swing phase is below a threshold value, and the step of determining whether the tracked trajectory corresponds to non-stair terrain comprises determining that a velocity vector attack angle \u03a8 of the ankle joint is above the threshold value.
57. The method of claim 55, wherein the step of optimizing operation of the apparatus for walking on stairs comprises adjusting a position of the foot member to a toe down position prior to foot strike, and wherein the step of optimizing operation of the apparatus for locomotion on non-stair terrain comprises adjusting a position of the foot member to a heel down position prior to foot strike.
58. The method of claim 55, wherein the step of optimizing operation of the apparatus for walking on non-stair terrain comprises the steps of:
dynamically controlling an impedance of the ankle joint during different phases of a single step;
dynamically controlling a position of the ankle joint during different phases of a single step; and
dynamically controlling torque of the ankle joint during different phases of a single step.
59. The method of claim 55, wherein the step of optimizing operation of the apparatus for walking on stairs comprises the steps of:
dynamically controlling an impedance of the ankle joint during different phases of a single step;
dynamically controlling a position of the ankle joint during different phases of a single step; and
dynamically controlling torque of the ankle joint during different phases of a single step.
60. The method of claim 55, further comprising the step of:
determining whether the tracked trajectory corresponds to an ascending ramp;
optimizing operation of the apparatus for ascending a ramp in situations where the tracked trajectory corresponds to an ascending ramp;
determining whether the tracked trajectory corresponds to a descending ramp; and
optimizing operation of the apparatus for descending a ramp in situations where the tracked trajectory corresponds to a descending ramp.
61. The method of claim 60, wherein the step of optimizing operation of the apparatus for ascending a ramp comprises the steps of dynamically controlling an impedance of the ankle joint during different phases of a single step, dynamically controlling a position of the ankle joint during different phases of a single step, and dynamically controlling torque of the ankle joint during different phases of a single step, and
wherein the step of optimizing operation of the apparatus for descending a ramp comprises the steps of dynamically controlling an impedance of the ankle joint during different phases of a single step, dynamically controlling a position of the ankle joint during different phases of a single step, and dynamically controlling torque of the ankle joint during different phases of a single step.
62. The method of claim 55, wherein the step of determining whether the tracked trajectory corresponds to stairs comprises determining that a velocity vector attack angle \u03a8 of the ankle joint in a late swing phase is below a threshold value, and the step of determining whether the tracked trajectory corresponds to non-stair terrain comprises determining that a velocity vector attack angle \u03a8 of the ankle joint is above the threshold value,
wherein the step of optimizing operation of the apparatus for walking on stairs comprises adjusting a position of the foot member to a toe down position prior to foot strike, and wherein the step of optimizing operation of the apparatus for locomotion on non-stair terrain comprises adjusting a position of the foot member to a heel down position prior to foot strike, and
wherein the step of optimizing operation of the apparatus for walking on non-stair terrain comprises the steps of dynamically controlling an impedance of the ankle joint during different phases of a single step, dynamically controlling a position of the ankle joint during different phases of a single step, and dynamically controlling torque of the ankle joint during different phases of a single step.
63. A lower-extremity prosthesis or orthosis apparatus, the apparatus comprising:
A foot member;
a lower leg member;
an ankle joint operatively connected between the foot member and the lower member to permit articulation of the foot member with respect to the lower leg member;
a motor configured to drive the ankle joint;
an inertial measurement unit configured to track a trajectory of the lower leg member and generate an output that represents the trajectory; and
a controller,
wherein the controller is configured to (a) determine whether the tracked trajectory corresponds to stairs based on the output, (b) optimize operation of the ankle joint for walking on stairs when the tracked trajectory corresponds to stairs, (c) determine whether the tracked trajectory corresponds to non-stair terrain, and (d) optimize operation of the ankle joint for walking on non-stair terrain when the tracked trajectory corresponds to non-stair terrain.
64. The apparatus of claim 63, wherein the controller determines whether the tracked trajectory corresponds to stairs by determining that a velocity vector attack angle \u03a8 of the ankle joint in a late swing phase is below a threshold value, and wherein the controller determines whether the tracked trajectory corresponds to non-stair terrain by determining that a velocity vector attack angle \u03a8 of the ankle joint is above the threshold value.
65. The apparatus of claim 63, wherein the controller optimizes operation of the ankle joint for walking on stairs by adjusting a position of the foot member to a toe down position prior to foot strike, and wherein the controller optimizes operation of the ankle joint for locomotion on non-stair terrain by adjusting a position of the foot member to a heel down position prior to foot strike.
66. The apparatus of claim 63, wherein the controller optimizes operation of the ankle joint for walking on non-stair terrain by dynamically controlling an impedance of the ankle joint during different phases of a single step, dynamically controlling a position of the ankle joint during different phases of a single step, and dynamically controlling torque of the ankle joint during different phases of a single step.
67. The apparatus of claim 63, wherein the controller optimizes operation of the ankle joint for walking on stairs by dynamically controlling an impedance of the ankle joint during different phases of a single step, dynamically controlling a position of the ankle joint during different phases of a single step, and dynamically controlling torque of the ankle joint during different phases of a single step.
68. The apparatus of claim 63, wherein the controller is further configured to (e) determine, based in the output, whether the tracked trajectory corresponds to an ascending ramp, (f) optimize operation of the ankle joint for walking on an ascending ramp when the tracked trajectory corresponds to an ascending ramp, (g) determine whether the tracked trajectory corresponds to a descending ramp, and (h) optimize operation of the ankle joint for walking on a descending ramp when the tracked trajectory corresponds to a descending ramp.
69. The apparatus of claim 68, wherein the controller optimizes operation of the ankle joint for ascending a ramp by dynamically controlling an impedance of the ankle joint during different phases of a single step, dynamically controlling a position of the ankle joint during different phases of a single step, and dynamically controlling torque of the ankle joint during different phases of a single step, and
wherein the controller optimizes operation of the ankle joint for descending a ramp by dynamically controlling an impedance of the ankle joint during different phases of a single step, dynamically controlling a position of the ankle joint during different phases of a single step, and dynamically controlling torque of the ankle joint during different phases of a single step.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A tolerance ring, comprising:
a substantial cylindrical base portion having a constant first radius along an axial length of the base portion; and
a plurality of circumferentially spaced radially outwardly projecting contacting portions on the surface of the base portion, each contacting portion comprising:
a central surface longitudinally extending parallel to an axis of the base portion with a first edge having a second radius greater than the first radius at a first longitudinal end of the central surface and a second edge having a third radius greater than the second radius at a second longitudinal end of the central surface, opposing circumferential edges of the central surface extending between the first and second edges,
an angled circumferential transition surface extending along each circumferential edge of the central surface and extending circumferentially from the first radius of the base portion to the second and third radii of the first and second edges over a circumferential transition length, each circumferential transition surface decreasing in radius at a constant angle from the second edge to the first edge along the longitudinal length of the central surface,
a first axial transition surface extending along the first edge of the central surface between the opposing circumferential transition surfaces and extending axially from the first radius of the base portion to the first edge of the central surface over a first axial transition length, and
a second axial transition surface extending along the second edge of the central surface between the opposing circumferential transition surfaces and extending axially from the first radius of the base portion to the second edge of the central surface over a second axial transition length,
wherein the central surface, the circumferential transition surfaces and the first and second axial transition surfaces adjoin one another to form an outer surface of the contacting portion.
2. The tolerance ring of claim 1 wherein the substantial cylindrical base portion has a material thickness and wherein the first axial transition surface and the second axial transition surface have a straight line profile.
3. The tolerance ring of claim 1 wherein the substantial cylindrical base portion has a material thickness and wherein the first axial transition surface and the second axial transition surface have a curved profile with a radius of curvature at least 2.5 times the material thickness of the cylindrical base portion.
4. The tolerance ring of claim 1 wherein each contacting portion has an overall axial length and an overall circumferential width, with the ratio of the first or second axial transition length to the overall axial length being greater than the ratio of the circumferential transition length to the overall circumferential width, but less than 250 times the ratio of the circumferential transition length to the overall circumferential width.
5. The tolerance ring of claim 1 wherein each contacting portion has an overall circumferential width, with the ratio of the circumferential transition length to the overall circumferential width being equal to or less than 0.4.
6. The tolerance ring of claim 1 wherein each contacting portion has an overall axial length and an overall circumferential width with the plurality of contacting portions arranged in multiple parallel circumferential rows of circumferentially spaced contacting portions about the cylindrical base portion.
7. The tolerance ring of claim 6 wherein the second axial transition length of each contacting portion is located at an inside boundary of each circumferential row.
8. The tolerance ring of claim 7 wherein the substantial cylindrical base portion has a material thickness and wherein the first axial transition surface and the second axial transition surface have a straight line profile.
9. The tolerance ring of claim 7 wherein the substantial cylindrical base portion has a material thickness and wherein the first axial transition surface and the second axial transition surface have a curved profile with a radius of curvature at least 2.5 times the material thickness of the cylindrical base portion.
10. The tolerance ring of claim 7 wherein each contacting portion has an overall axial length and an overall circumferential width, with the ratio of the first or second axial transition length to the overall axial length being greater than the ratio of the circumferential transition length to the overall circumferential width, but less than 250 times the ratio of the circumferential transition length to the overall circumferential width.
11. The tolerance ring of claim 7 wherein each contacting portion has an overall circumferential width, with the ratio of the circumferential transition length to the overall circumferential width being equal to or less than 0.4.
12. The tolerance ring of claim 1 wherein each contacting portion has an overall axial length and an overall circumferential width with the plurality of contacting portions arranged in two parallel circumferential rows of circumferentially spaced contacting portions about the cylindrical base portion.
13. The tolerance ring of claim 12 wherein the second axial transition length of each contacting portion is located at an inside boundary of the two parallel circumferential rows.
14. The tolerance ring of claim 12 wherein the plurality of contacting portions in each of the two parallel circumferential rows are arranged so that the second axial transition length is alternately located at an inside boundary of a circumferential row and an outside boundary of a circumferential row.
15. The tolerance ring of claim 1 wherein each contacting portion has an overall axial length and an overall circumferential width with the plurality of contacting portions arranged in an even number of parallel circumferential rows of circumferentially spaced contacting portions about the cylindrical base portion.
16. The tolerance ring of claim 15 wherein the plurality of contacting portions in each of the parallel circumferential rows are arranged so that the second axial transition length is alternately located at an inside boundary of a circumferential row and an outside boundary of a circumferential row.
17. The tolerance ring of claim 16 wherein the contacting portions of alternating circumferential rows are grouped in axial alignment with alternating axially aligned groups of contacting portions being circumferentially offset.
18. The tolerance ring of claim 16 wherein the number of parallel circumferential rows equals four.