Patent ID: 8870967
Filing Date: 2014-10-28
Classification: A61F,B25J,B62D

Abstract:
1. An agonist-antagonist actuator for controlling an orthotic, prosthetic or exoskeleton joint comprising, in combination: a flexion actuator connected to each of first and second members that are connected for movement relative to one another about a single pivot point, whereby the single pivot point maintains a length of the orthotic, prosthetic or exoskeleton joint throughout flexion and extension of the first and second members of the orthotic, prosthetic or exoskeleton joint about the single pivot point, and wherein the flexion actuator includes a series combination of a first active element and a first elastic element, the flexion actuator being configured to draw the first and second members together, reducing the angle between the first and second members at the joint; an extension actuator connected between the first and second members, the extension actuator comprising a series combination of a second active element and a second elastic element, the extension actuator being configured to urge the first and second members apart, increasing the angle between the first and second members at the joint, the extension actuator being in parallel with the flexion actuator, being independently activated at different moments in time from the flexion actuator, and operating to oppose the flexion actuator in an agonist-antagonist manner, whereby simultaneous actuation of the flexion actuator and the extension actuator will cause the actuators to operate in active opposition to each other about the single pivot point of the orthotic, prosthetic or exoskeleton joint; and a controller for independently energizing the first active element and the second active element at different moments in time to control the movement of the first and second members at the orthotic, prosthetic or exoskeleton joint.