Prosthetic device and method with compliant linking member and actuating linking member
A prosthetic device has a movable body and foot member with an end effector for contacting an external surface. A base body is coupled to a first joint of the foot member. A compliant linking member is disposed between a second joint of the foot member and a first joint of the moveable body. The compliant linking member can be a spring or flexible beam. A passive linking member is coupled between a third joint of the foot member and a third joint of the moveable body. An actuator is disposed between the base body and the second joint of the movable body. The actuator can be a motor with an extension member. The compliant linking member extends during roll-over phase. The actuator acts to assist with the extension of the compliant linking member during roll-over phase to aid with push-off phase in the gait cycle.
1. A method of making a prosthetic device, comprising:
providing a first passive linking member, wherein the first passive linking member includes an end effector for contacting an external surface;
providing a base body rotationally coupled to the first passive linking member;
providing a movable body;
disposing a compliant linking member including a first end connected to the first passive linking member and a second end rotationally connected to a first joint on the movable body;
disposing a motorized actuator between the base body and a second joint on the movable body; and
providing a second passive linking member coupled between the base body and a third joint on the movable body.
2. The method of claim 1 , wherein the compliant linking member includes a flexible beam.
3. The method of claim 1 , wherein the motorized actuator includes a motor member, movable member, and shaft between the motor member and movable member.
4. The method of claim 1 , wherein the first passive linking member includes an end effector for contacting an external surface.
5. The method of claim 1 , wherein the first passive linking member includes a fixed connection to the compliant linking member.
6. A prosthetic device, comprising:
a first passive linking member, wherein the first passive linking member includes an end effector for contacting an external surface;
a base body rotationally coupled to the first passive linking member;
a movable body;
a compliant linking member including a first end connected to the first passive linking member and a second end rotationally connected to a first joint on the movable body;
a motorized actuator coupled between the base body and a second joint on the movable body; and
a second passive linking member coupled between the base body and a third joint on the movable body.
7. The prosthetic device of claim 6 , wherein the compliant linking member includes a flexible beam.
8. The prosthetic device of claim 6 , wherein the motorized actuator includes a motor member, movable member, and shaft between the motor member and movable member.
9. The prosthetic device of claim 6 , wherein the first passive linking member includes a fixed connection to the compliant linking member.
10. A prosthetic device, comprising:
a first passive linking member;
a base body coupled to the first passive linking member;
a movable body;
a compliant linking member coupled between the first passive linking member and a first joint on the movable body to enable relative movement between the passive linking member and movable body;
an actuating linking member coupled between the base body and a second joint on the movable body; and
a second passive linking member coupled between the base body and a third joint on the movable body.
11. The prosthetic device of claim 10 , wherein the compliant linking member includes a flexible beam.
12. The prosthetic device of claim 10 , wherein the first passive linking member includes an end effector for contacting an external surface.
13. The prosthetic device of claim 10 , wherein the first passive linking member includes a fixed connection to the compliant linking member.
14. A prosthetic device, comprising:
a foot member including a first joint;
a movable body including a first joint and a second joint;
a compliant linking member disposed between the foot member and the first joint of the movable body to enable relative movement between the foot member and movable body;
an actuator disposed between the base body and the second joint of the movable body; and
a passive linking member coupled between the base body and a third joint of the movable body.
15. The prosthetic device of claim 14 , wherein the compliant linking member includes a flexible beam.
16. The prosthetic device of claim 14 , wherein the foot member includes a fixed connection to the compliant linking member.
17. The prosthetic device of claim 14 , wherein the actuator includes a motor member, movable member, and shaft between the motor member and movable member.