Ankle-foot prosthesis for automatic adaptation to sloped walking surfaces
View Patent ↗An ankle-foot prosthesis includes a foot plate, an ankle frame attached to the foot plate, a yoke pivotally connected to the ankle frame and including a member for attaching to a leg, a damper having a first end connected to the yoke and a second end connected to the ankle frame, and a control mechanism for switching the damper between low and high settings.
1. An ankle-foot prosthesis, comprising:
a) a foot plate including a rear portion and a forward deflectable portion;
b) an ankle frame including anterior and posterior portions and an apex portion;
c) said posterior portion of said ankle frame attached to said rear portion of said foot plate;
d) a yoke pivotally connected to said apex portion of said ankle frame and including a member for attaching to a prosthetic leg;
e) a hydraulic damper having a first end pivotally connected to said yoke and a second end pivotally connected to said posterior portion of said ankle frame;
f) a spring disposed in parallel to said damper;
g) a fluid control circuit for controlling extension and compression of said damper;
h) said anterior portion of said ankle frame including a curved surface inclined upwardly relative to said foot plate and forwardly toward said forward deflectable portion of said foot plate;
i) said curved surface forming a roll-over surface for limiting a dorsiflexion deflection of said forward deflectable portion of said foot plate by a direct engagement therewith;
j) said fluid control circuit including a check valve for only allowing compression of said damper;
k) said fluid control circuit including a cutoff valve for allowing extension of said damper;
l) said cutoff valve allowing extension of said damper during a gait cycle at least between prosthetic side toe off and 0 to 0.13 seconds thereafter; and
m) said cutoff valve allowing extension of said damper during the gait cycle at most between prosthetic side toe off and the next prosthetic side foot flat.
2. The ankle-foot prosthesis of claim 1 , further comprising:
a) another check valve positioned in series with said cutoff valve.
3. The ankle-foot prosthesis of claim 2 , further comprising:
a) another cutoff valve for allowing compression of said damper during a walking mode and preventing compression of said damper during a standing mode.
4. The ankle-foot prosthesis of claim 1 , further comprising:
a) at least one variable fluid-flow resistor for said fluid control circuit for adjusting hydraulic fluid resistance in dorsiflexion, plantarflexion, or both.
5. An ankle-foot prosthesis, comprising:
a) a foot plate including a rear portion and a forward deflectable portion;
b) an ankle frame including anterior and posterior portions and an apex portion;
c) said posterior portion of said ankle frame attached to said rear portion of said foot plate;
d) a yoke pivotally connected to said apex portion of said ankle frame and including a member for attaching to a prosthetic leg;
e) a hydraulic damper having a first end pivotally connected to said yoke and a second end pivotally connected to said posterior portion of said ankle frame;
f) a spring disposed in parallel to said damper;
g) a fluid control circuit for controlling extension and compression of said damper;
h) said anterior portion of said ankle frame including a curved surface inclined upwardly relative to said foot plate and forwardly toward said forward deflectable portion of said foot plate;
i) said curved surface forming a roll-over surface for limiting a dorsiflexion deflection of said forward deflectable portion of said foot plate by a direct engagement therewith;
j) said fluid control circuit including a cutoff valve for preventing compression and extension of said damper at prosthetic side foot between prosthetic side foot flat and prosthetic side toe off during a walking mode of a gait cycle;
k) said cutoff valve allowing compression and extension of said damper between prosthetic side toe off until prosthetic side foot flat during the walking mode of the gait cycle; and
l) said cutoff valve preventing compression and extension of said damper during a standing mode.
6. The ankle-foot prosthesis of claim 5 , further comprising:
a) at least one check valve for said fluid control circuit for allowing compression of said damper.
7. The ankle-foot prosthesis of claim 5 , further comprising:
a) at least one check valve for said fluid control circuit for allowing extension of said damper.
8. The ankle-foot prosthesis of claim 6 , further comprising:
a) at least one variable fluid-flow resistor for said fluid control circuit for adjusting hydraulic fluid resistance in dorsiflexion, plantarflexion, or both.
9. An ankle-foot prosthesis, comprising:
a) a foot plate including a rear portion and a forward deflectable portion;
b) an ankle frame including anterior and posterior portions and an apex portion;
c) said posterior portion of said ankle frame attached to said rear portion of said foot plate;
d) a yoke pivotally connected to said apex portion of said ankle frame and including a member for attaching to a prosthetic leg;
e) a hydraulic damper having a first end pivotally connected to said yoke and a second end pivotally connected to said ankle frame;
f) a spring disposed in parallel to said damper;
g) a fluid control circuit for controlling extension and compression of said damper;
h) said anterior portion of said ankle frame including a curved surface inclined upwardly relative to said foot plate and forwardly toward said forward deflectable portion of said foot plate; and
i) said curved surface forming a roll-over surface for limiting a dorsiflexion deflection of said forward deflectable portion of said foot plate by a direct engagement therewith.
10. The ankle-foot prosthesis of claim 9 , wherein:
a) said fluid control circuit includes a check valve for only allowing compression of said damper.
11. The ankle-foot prosthesis of claim 9 , wherein:
a) said fluid control circuit includes a cutoff valve for allowing extension of said damper.
12. The ankle-foot prosthesis of claim 11 , wherein:
a) said cutoff valve allows extension of said damper during a gait cycle at least between prosthetic side toe off and 0 to 0.13 seconds thereafter.
13. The ankle-foot prosthesis of claim 11 , wherein:
a) said cutoff valve allows extension of said damper during the gait cycle at most between prosthetic side toe off and the next prosthetic side foot flat.
14. The ankle-foot prosthesis of claim 9 , wherein:
a) said fluid control circuit includes a cutoff valve for preventing compression and extension of said damper at prosthetic side foot between prosthetic side foot flat and prosthetic side toe off during a walking mode of a gait cycle.
15. The ankle-foot prosthesis of claim 14 , wherein:
a) said cutoff valve allows compression and extension of said damper between prosthetic side toe off until prosthetic side foot flat during the walking mode of the gait cycle.
16. The ankle-foot prosthesis of claim 15 , wherein:
a) said cutoff valve prevents compression and extension of said damper during a standing mode.
17. The ankle-foot prosthesis of claim 9 , wherein:
a) said fluid control circuit includes a check valve for only allowing extension of said damper; and
b) said cutoff valve opens or closes by a load applied to the ankle-foot prosthesis during walking.
18. The ankle-foot prosthesis of claim 17 , further comprising:
a) an actuator operating with the load to open or close said cutoff valve.
19. The ankle-foot prosthesis of claim 18 , wherein:
a) said actuator comprises a spring-loaded hinge.
20. The ankle-foot prosthesis of claim 18 , wherein:
a) said actuator comprises a telescoping element.