University of Utah Research Foundation

A powered ankle support device, for example, an ankle prosthesis or ankle exoskeleton, comprises an ankle joint assembly coupled between an upper support member, such as the shank, and a lower support member, such as a prosthetic foot or foot support member. An actuator is associated with the ankle joint assembly to move the lower support member with respect to the upper support member. Angle sensors sense an ankle angle of the ankle joint assembly, a shank angle of the upper support member, a knee angle of a knee associated with the ankle joint assembly, and a thigh angle of a thigh associated with the ankle joint assembly. A controller is associated with the ankle joint assembly and receives angle data from the angle sensors comprising the ankle angle, the shank angle, the knee angle and the thigh angle. The controller determines a torque to be applied by the actuator based on the angle data. The controller generates 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 prosthesis device includes an artificial joint body, pivotal about a joint axis, an input motor, and a transmission, operable to transfer force from the input motor to the artificial joint body. The transmission includes a crank, pivotally coupled to the artificial joint body about a crank axle rotatable about a crank axis. The input motor is operably coupled to the crank such that movement of the input motor causes the crank to pivot about the crank axis. A primary compression spring is carried by the artificial joint body, the primary compression spring being operably coupled to the crank. Movement of the input motor results in the crank transferring force to the artificial joint body about the crank axle and through the primary compression spring to cause the artificial joint body to pivot about the artificial axis.

A powered exoskeleton device includes an external frame, operable to be secured to a limb of a user. An artificial joint body pivotal about a joint axis is connected to the external frame to transmit force through the external frame to the limb of the user. A transmission transfers force from an input motor to the artificial joint body. The transmission includes a crank, pivotally coupled to the artificial joint body about a crank axle rotatable about a crank axis. A primary compression spring is carried by the artificial joint body and is operably coupled to the crank. Movement of the input motor results in the crank transferring force to the artificial joint body about the crank axle and through the primary compression spring to cause the artificial joint body to pivot about the joint axis, thus aiding the user is moving the limb.

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Zusammenfassung wird geladen …

Zusammenfassung wird geladen …

Zusammenfassung wird geladen …

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