Four-bar linkage transmission and methods of making, using, and controlling the same

1. A human augmentation device comprising:

a proximal member and a distal member directly connected by a single rotational axis corresponding to a human joint;

a linkage which transmits force between the proximal and distal members comprising at least four pivot axes and four links respectively connecting the pivot axes (A, B, C, and D), wherein a first link (AB) corresponds to the distal member, a second link (AD) corresponds to the proximal member, third (CD) and fourth (BC) links connect to the first and second links, and the pivot axis (A) connecting the first link and second link is the single rotational axis corresponding to the human joint; and

an actuator, wherein the linkage and actuator produce a mechanical advantage for the actuator to rotate the distal member relative to the proximal member and the mechanical advantage varies throughout a movement cycle of the linkage as a function of an angle between the proximal and distal members;

a predefined high-torque range is defined for a portion of the movement cycle during which the actuator imparts a relatively high torque between the proximal and distal members as compared to other portions of the movement cycle; and

an instantaneous center of rotation (ICR) is defined as a point where lines extending from the first and third links intersect, and the links of the linkage are sized and configured relative to each other to position the ICR relatively farther from a selected pivot of the fourth link as compared to a second pivot of the fourth link when the human augmentation device is in the predefined high-torque range as compared to the other portions of the movement cycle to increase the varying mechanical advantage in the high-torque range.

2. The device of claim 1 , wherein the varying mechanical advantage varies by at least a factor of 1.25 throughout an allowed range of motion of the proximal member relative to the distal member.

3. The device of claim 2 , where in the distal member is a prosthetic component.

4. The device of claim 1 , wherein the proximal and distal members each correspond with a segment of a human limb.

5. The device of claim 1 , wherein a torque created by the actuator acts between the proximal and distal members and is a function of at least a rotational position of the proximal member relative to the distal member.

6. The device of claim 1 , further comprising

an encoder configured to generate an output from which a position of the linkage can be determined; and

a controller configured to:

determine the position of the linkage from the encoder output,

use the position of the linkage to transform a desired torque, position, or speed at a rotational axis corresponding to the joint to a target torque, position, or speed of the actuator, and

control the actuator to apply the target actuator torque, position, or speed.

7. The device of claim 1 , wherein the actuator comprises motor having a torque constant selected based on the varying mechanical advantage so as to tune the motor to a limited operating range defined by the varying mechanical advantage.

8. The device of claim 1 , wherein the actuator comprises a motor having a speed constant selected based on the varying mechanical advantage so as to tune the motor to a limited operating range defined by the varying mechanical advantage.

9. The device of claim 1 , wherein the device is a prosthetic foot-ankle.

10. The device of claim 9 , wherein the prosthetic foot-ankle is in a fully dorsiflexed position during at least a part of the predefined high-torque range.

11. The device of claim 1 , further comprising a position measuring sensor configured to determine the angle between the proximal and distal members.

12. The device of claim 1 , wherein at least one of the links comprises an elastic member.

13. The device of claim 1 , wherein the device is a powered human ankle prosthesis, the distal member is a foot member, and the proximal member is a shank member.

14. The device of claim 1 , further comprising:

a joint at the single rotational axis;

a hardware sensor configured to generate an output from which a position of the linkage can be determined; and

a controller configured to:

access the output of the measurement device,

calculate or retrieve an instantaneous mechanical advantage of the device from an actuator to the joint, and

control the actuator based in part on the mechanical advantage to apply a target torque or speed to the joint.

15. The device of cl aim 14 , wherein:

a first distance A is defined from a first end of the fourth link to the ICR, and a second distance B is defined from a second end of the fourth link to the ICR; and

the linkage is configured to vary the mechanical advantage of the linkage over the movement cycle based at least in part on the first distance A and the second distance B.

16. A method comprising:

providing the human augmentation device of claim 1 , and

rotating the distal member relative to the proximal member to produce the varying mechanical advantage.

17. The method of claim 16 , further comprising

determining a position of the linkage,

using the position of the linkage to transform a desired torque, position, or speed at the rotational axis corresponding to the joint to a target torque, position, or speed of the actuator, and

controlling the actuator to apply the target actuator torque, position, or speed.

18. The method of claim 16 , further comprising:

calculating or retrieving an instantaneous mechanical advantage of the device from an actuator to the axis corresponding to the joint, and

controlling the actuator based in part on the mechanical advantage to apply a target torque or speed to the joint.

19. The device of claim 1 , wherein the proximal and distal members are connected to adjacent links of the four links of the linkage.