Transfemoral prosthetic systems and methods for operating the same
View Patent ↗Certain embodiments of the invention relate to increasing the functionality of a transfemoral prosthetic device. In one embodiment, the transfemoral prosthetic device is configured such that the prosthetic knee maintains a load consistent with a healthy knee walking on level ground, while the prosthetic ankle adjusts for the incline or decline. In certain embodiments, adjustments, such as a toe lift function, are automatically performed after about three strides of the transfemoral prosthetic device user and/or when each of the strides has a stride speed of at least about 0.55 meters/second.
1. A transfemoral prosthetic device associated with a limb, comprising:
a foot unit;
a tibial member pivotally attached to the foot unit to define an ankle joint;
a femoral member pivotally attached relative to the tibial member to define a knee joint;
an actuator operatively coupled to the ankle joint and configured to actively adjust an ankle-angle between the tibial member and the foot unit during at least a portion of a swing phase of a gait cycle;
at least one sensor disposed on the transfemoral prosthetic device and configured to generate data indicative of at least one of position or movement of the transfemoral prosthetic device during a gait of a user; and
a processor communicatively coupled to the at least one sensor and configured to:
receive said generated data,
determine the ankle-angle of the transfemoral prosthetic device and that the user is moving up an incline or down a decline based at least in part on said generated data,
determine ankle-angle adjustments based at least in part on determining that the user is moving up the incline or down the decline and on said determined ankle-angle of the transfemoral prosthetic device satisfying an ankle-angle threshold, wherein the ankle-angle adjustments comprise a first ankle-angle adjustment and a second ankle-angle adjustment, and wherein the first ankle-angle adjustment is used for ankle angle amounts in between a first threshold and a second threshold and the second ankle-angle adjustment is used for ankle angle amounts beyond the second threshold,
generate a control signal based at least in part on said determined ankle-angle adjustments of the transfemoral prosthetic device, and
actively adjust the ankle-angle of the transfemoral prosthetic device by actuating the at least one actuator operatively coupled to the ankle joint during at least a portion of the swing phase of the gait cycle based at least in part on said generated control signal.
2. The transfemoral prosthetic device of claim 1 , wherein the actuator operatively coupled to the ankle joint is a first actuator, and the knee joint comprises a second actuator configured to affect a knee angle between the tibial member and the femoral member.
3. The transfemoral prosthetic device of claim 2 , wherein the processor is configured to actuate the first actuator to affect the foot unit relative to the tibial member in a manner mimicking movement of a healthy ankle.
4. The transfemoral prosthetic device of claim 2 , wherein the processor is configured to actuate the second actuator to affect the femoral member relative to the tibial member such that the knee angle moves in a manner mimicking movement of a healthy knee.
5. The transfemoral prosthetic device of claim 2 , wherein the second actuator is configured to affect the angle between the femoral member and the tibial member consistent with a healthy knee walking on level ground.
6. The transfemoral prosthetic device of claim 2 , wherein the second actuator is configured to affect the knee angle between the tibial member and the femoral member consistent with a healthy knee walking on level ground while actually walking on a sloped surface.
7. The transfemoral prosthetic device of claim 6 , wherein the at least one sensor is configured to monitor a load on the knee joint, and wherein the knee maintains a load consistent with a healthy knee walking on level ground while actually walking on the sloped surface.
8. The transfemoral prosthetic device of claim 2 , wherein the second actuator is configured to actively adjust the knee angle between the tibial member and the femoral member.
9. The transfemoral prosthetic device of claim 2 , wherein the first actuator is configured to affect the ankle-angle between the tibial member and the foot and the second actuator is configured to affect the knee angle between the femoral member and the tibial member to reduce a load on a physiological member that is coupled with the transfemoral prosthetic device.
10. The transfemoral prosthetic device of claim 2 , wherein the first actuator is configured to actively adjust the ankle-angle between the tibial member and the foot unit in a toe lift after about three strides of a user of the transfemoral prosthetic device.
11. The transfemoral prosthetic device of claim 2 , wherein the first actuator is configured to affect the ankle-angle between the tibial member and the foot unit during a stance phase of the gait cycle.
12. The transfemoral prosthetic device of claim 11 , wherein the first actuator is configured to actively adjust the ankle-angle between the tibial member and the foot unit during the stance phase of the gait cycle.
13. The transfemoral prosthetic device of claim 2 , wherein the second actuator is configured to affect the knee angle between the femoral member and the tibial member during the swing phase of the gait cycle.
14. The transfemoral prosthetic device of claim 1 , wherein the at least one sensor comprises an accelerometer and a load sensor.
15. The transfemoral prosthetic device of claim 1 , wherein the processor is configured to process the data from the at least one sensor to dynamically determine a gait cycle phase.
16. The transfemoral prosthetic device of claim 1 , wherein the actuator is configured to actively adjust the ankle-angle between the tibial member and the foot unit in a toe lift after about three strides of the user of the transfemoral prosthetic device.
17. The transfemoral prosthetic device of claim 1 , wherein the actuator is configured to affect the ankle-angle between the tibial member and the foot unit: during a stance phase of the gait cycle.
18. The transfemoral prosthetic device of claim 17 , wherein the actuator is configured to actively adjust the ankle-angle between the tibial member and the foot unit during the stance phase of the gait cycle.
19. The transfemoral prosthetic device of claim 1 , wherein the first threshold is 2.5 degrees and the second threshold is 5 degrees.
20. A transfemoral prosthetic device associated with a limb, comprising:
a foot unit;
a tibial member pivotally attached to the foot unit to define an ankle joint;
a femoral member pivotally attached relative to the tibial member to define a knee joint;
an actuator operatively coupled to the ankle joint and configured to actively adjust an ankle-angle between the tibial member and the foot unit during at least a portion of a swing phase of a gait cycle;
at least one sensor disposed on the transfemoral prosthetic device and configured to generate data indicative of at least one of position or movement of the transfemoral prosthetic device during a gait of a user; and
a processor communicatively coupled to the at least one sensor and configured to:
receive said generated data,
determine the ankle-angle of the transfemoral prosthetic device and that the user is moving up an incline based at least in part on said generated data,
determine ankle-angle adjustments based at least in part on determining that the user is moving up the incline and on said determined ankle-angle of the transfemoral prosthetic device satisfying an ankle-angle threshold, wherein the ankle-angle adjustments are based on an angular amount of the incline, wherein the ankle-angle adjustments comprise a first ankle-angle adjustment and a second ankle-angle adjustment, wherein the first ankle-angle adjustment is used for incline angular amounts greater than a first threshold but lower than a second threshold and the second ankle-angle adjustment is used for incline angular amounts greater than the second threshold;
generate a control signal based at least in part on said determined ankle-angle adjustments of the transfemoral prosthetic device, and
actively adjust the ankle-angle of the transfemoral prosthetic device by actuating the at least one actuator operatively coupled to the ankle joint during at least a portion of the swing phase of the gait cycle based at least in part on said generated control signal.
21. A transfemoral prosthetic device associated with a limb, comprising:
a foot unit;
a tibial member pivotally attached to the foot unit to define an ankle joint;
a femoral member pivotally attached relative to the tibial member to define a knee joint;
an actuator operatively coupled to the ankle joint and configured to actively adjust an ankle-angle between the tibial member and the foot unit during at least a portion of a swing phase of a gait cycle;
at least one sensor disposed on the transfemoral prosthetic device and configured to generate data indicative of at least one of position or movement of the transfemoral prosthetic device during a gait of a user; and
a processor communicatively coupled to the at least one sensor and configured to:
receive said generated data,
determine the ankle-angle of the transfemoral prosthetic device and that the user is moving down a decline based at least in part on said generated data,
determine ankle-angle adjustments based at least in part on determining that the user is moving down the decline and on said determined ankle-angle of the transfemoral prosthetic device satisfying an ankle-angle threshold, wherein the ankle-angle adjustments are based on an angular amount of the decline, wherein the ankle-angle adjustments comprise a first ankle-angle adjustment and a second ankle-angle adjustment, wherein the first ankle-angle adjustment is used for decline angular amounts greater than a first threshold but lower than a second threshold and the second ankle-angle adjustment is used for decline angular amounts greater than the second threshold;
generate a control signal based at least in part on said determined ankle-angle adjustments of the transfemoral prosthetic device, and
actively adjust the ankle-angle of the transfemoral prosthetic device by actuating the at least one actuator operatively coupled to the ankle joint during at least a portion of the swing phase of the gait cycle based at least in part on said generated control signal.