Source: https://patents.google.com/patent/EP1843724B1/en
Timestamp: 2019-04-26 04:18:47
Document Index: 473315127

Matched Legal Cases: ['Application No. 10', 'Application No.10', 'Application No. 10', 'Application No. 10', 'Application No. 11', 'Application No. 11', 'Application No. 11', 'Application No. 11', 'Application No. 11', 'Application No. 10']

EP1843724B1 - Sensing systems and methods for monitoring gait dynamics - Google Patents
EP1843724B1
EP1843724B1 EP06748179.6A EP06748179A EP1843724B1 EP 1843724 B1 EP1843724 B1 EP 1843724B1 EP 06748179 A EP06748179 A EP 06748179A EP 1843724 B1 EP1843724 B1 EP 1843724B1
EP06748179.6A
EP1843724A2 (en
2006-02-01 Priority to PCT/US2006/003473 priority patent/WO2006083913A2/en
2007-10-17 Publication of EP1843724A2 publication Critical patent/EP1843724A2/en
2018-07-25 Publication of EP1843724B1 publication Critical patent/EP1843724B1/en
US5443528 discloses a prosthetic foot formed by one continuous coil spring which has a foot center coil section, a heel extension section, and a forefoot extension section. Lateral and medial and torsional movement are accommodated. Energy is absorbed and stored by the prosthetic foot during heel strike in the gait cycle, energy is transferred to the forefoot extension section during foot roll-forward to toe-off in the gait cycle, and energy is released to provide a propelling force on the prosthetic foot at toe-off in the gait cycle. An apparatus allowing the wearer of the prosthetic foot to feel by physical sensation forces being applied to the prosthetic foot is included in one embodiment. US6755870 discloses a prosthetic device capable of bending in use and a strain gauge sensor. Additional disclosures of prosthetic feet are discussed in that document which include spring components intended to store energy when the foot is placed on the ground and to release it and provide a lift or thrust as the foot is removed from the ground again to aid in the patient's gait. Examples of this are US4865612 and US5116383 . Other disclosures of prosthetic feet are discussed in US5443528 which have an ankle joint intended to accommodate terrain and walking conditions, such as US4718933 and US4306320 . US4645509 discloses a prosthetic foot which could accommodate uneven terrain by utilizing separate individual toe portions as part of a monolithic cantilever beam. Other prosthetic feet in the prior art have employed multiple springs, including multiple leaf springs, in an attempt to approximate the response and performance of a natural foot. Examples include US4959073 , US4547913 , US4822363 and US5037444 .
The invention relates to a system and method for measuring performance of an orthotic or prosthetic foot device.
In one aspect the invention includes a system for measuring performance of an orthotic or prosthetic foot device, comprising an orthotic or prosthetic foot device, the device capable of bending while in use, and a bending force sensor extending in an anterior/posterior direction along both sides of a bending axis of the device, wherein the bending force sensor is configured to bend with the device while in use, and wherein the bending force sensor produces a resistance output correlated to the bending of the device. A second aspect of the invention includes a method for measuring bending of an orthotic or prosthetic foot device associated with a limb, comprising providing an orthotic or prosthetic foot device having at least one bending force sensor extending in an anterior/posterior direction along both sides of a bending axis of the device, measuring with said bending force sensor the bending of the bending force sensor while the device is in use, said bending force sensor bending with the device, and communicating information regarding said bending.
The scope of protection is defined by the claims. Any drawings which do not fall within the scope of the claims are included as support only.
The invention integrates sensors and a microcontroller to monitor the gait dynamics of a user. The invention is used to measure the movement and/or dynamics of a device associated with a prosthetic or orthotic foot.
Calibration of the prosthetic foot system may take place when the system is reset. That is, the "normal" state of the prosthetic foot system may be defined as the state registered when the prosthetic foot system is reset. In one embodiment, the prosthetic foot system defines a range of resistive values (or "dead zone") that is associated with a relaxed, or normal, state of the prosthetic foot. Even at this relaxed state, the prosthetic foot is generally curved and may register a particular resistive value measured through the resistive strip. Resistive values that fall outside the defined range of normal state values are generally regarded as valid state changes. For example, when the user is in stride, at the heel strike state (i.e., when the heel of the user makes contact with the ground), the resistance. (i.e., heel load value) measured through the resistive strip is generally less than the relaxed state value(s). At the toe load state (i.e., state just prior to the foot leaving the ground), the resistive value (i.e., toe load value) is generally greater than the relaxed state value(s). For a full "step" to be registered by the prosthetic foot system (e.g., incrementing a step count), the prosthetic system generally awaits a heel strike state (low resistance) and a toe load state (high resistance), which states may also occur in the reverse order (i.e., toe load state and heel strike state). FIGURE 2 graphically illustrates a scale of different states (e.g., dead band) in which a measured resistive value may fall.
A prosthetist may use the information generated by the sensor (e.g., through the LED display or through data transmitted from the sensor) to align the prosthetic foot. For example, anterior/posterior alignment of the prosthetic foot can be performed by adjusting screws on the prosthetic foot. In one embodiment, such alignment comprises adjusting at least one of multiple (e.g., four) screws on the prosthetic foot. In other embodiments, other means of adjusting may be used. For example, the heel height of the prosthetic foot may be adjusted by pressing a button, which, in turn, changes the angle of the prosthetic foot. For example, the device may include a design described in Applicant's co-pending U.S. Application Serial No. 10/742,455, filed on December 18, 2003 , and entitled "PROSTHETIC FOOT WITH ROCKER MEMBER,". As the prosthetic foot is tilted downwards (plantarflexion), the toe load increases and the heel load decreases. Likewise, titling the prosthetic foot upwards (dorsiflexion) increases the heel load and decreases the toe load.
R4 68 R-EU 0204/5 0204/5 Rc1
FIGURE 4 illustrates a three-dimensional view of a sensor system ready for attachment to a portion of a prosthetic foot. The sensor system includes two bending force sensors 38 (such as variable resistor strips) ready for attachment to form an intelligent prosthetic foot 30. The prosthetic foot may be any suitable prosthetic foot where there is a portion of the foot that bends under load. For example, the following prosthetic feet available from Ossur of Reykjavik, Iceland: Axia™, Ceterus®, Elation™, LP Ceterus™, Chopart, K2 Sensation™, LP Vari-Flex®, Modular III™, Re-Flex VSP™, Cheetah®, Flex-Sprint™, Flex-Run™, Talux®, Vari-Flex®, Flex-Foot® Junior, Flex-Symes™, and Sure-Flex®. Further details of certain prosthetics feet are disclosed in the following patents and applications: U.S. Patent Application No. 10/642,125 ; U.S. Patent Application No.10/944,436 ; U.S. Patent No. 6,969,408 ; U.S. Patent Application No. 10/742,455 ; U.S. Patent No. 6,899,737 ; U.S. Patent No. 5,181,932 ; U.S. Patent No. 4,822,363 ; U.S. Patent No. 6,071,313 ; and U.S. Patent No. 6,811,571 .
Further details of a base prosthetic foot may be found in U.S. Patent Application No. 10/642,125
The sensor system 50 shown in FIGURE 5 includes two elongate sensors 38, which may be resistive strips such as described above. It will be appreciated that any suitable sensor may be used to measure a desired performance, force, alignment, or biomechanical characteristic of the foot. Such sensors 38 comprise an elongate, substantially planar body that provides a flat surface that extends across an upper surface of the prosthetic foot in a longitudinal or posterior-to-anterior direction. As used herein, the elongate configuration of the sensors 38 generally refer to the sensors having a length to width ratio of greater than about 2:1, more preferably greater than about 5:1 or even 10:1. In one embodiment, the sensors 38 have a length of about ½ inch or greater, more preferably about one inch or greater, more preferably about two inches or greater, or even about three inches or greater. The width of the sensors 38 may in one embodiment be between about 1/8 of an inch and ½ inch. The sensors 38 also have a flexible construction, allowing them to bend with the foot member during use of the foot. Some sensors may comprise resistive carbon technology. Suitable sensors are available from Spectra Symbol Corp. of Salt Lake City, Utah.
Embodiments of the present invention relate to, or may be used in combination with, the subject matter disclosed in the following applications : U.S. Patent Application No. 11/056,344 , entitled "SYSTEM AND METHOD FOR MOTION-CONTROLLED FOOT UNIT," filed on Feb. 11, 2005, and published on Sept. 8, 2005, as U.S. Patent Application Publication No. 2005/0197717-A1 ; U.S. Patent Application No. 11/057,391 , entitled "SYSTEM AND METHOD FOR MOTION-CONTROLLED FOOT UNIT," filed on Feb. 11, 2005, and published on Sept. 1, 2005, as U.S. Patent Application Publication No. 2005/0192677-A1 ; U.S. Patent Application No. 11/315,648 , entitled "SYSTEMS AND METHODS FOR LIMB DETECTION," filed on Dec. 22, 2005; U.S. Patent Application No. 11/077,177 , entitled "CONTROL SYSTEM AND METHOD FOR A PROSTHETIC KNEE," filed on March 9, 2005, and published on Dec. 22, 2005 as U.S. Patent Application Publication No. 2005/0283257-A1 ; U.S. Patent Application No. 11/123,870 , entitled "MAGNETORHEOLOGICALLY ACTUATED PROSTHETIC KNEE," filed on May 6, 2005; U.S. Patent Application No. 10/615,336 , entitled "SOCKET LINER INCORPORATING SENSORS TO MONITOR AMPUTEE PROGRESS," filed July 8, 2003, and published on March 25, 2004, as U.S. Patent Application Publication No. 2004/0059432 ; U.S. Patent No. 6,610,101 ; and U.S. Patent No. 6,764,520 .
It will be understood that the foregoing is only illustrative of the principles of the invention, and that various modifications, alterations, and combinations can be made by those skilled in the art without departing from the scope of the invention. Although this invention has been described in terms of certain embodiments, other embodiments that are apparent to those of ordinary skill in the art, including embodiments which do not provide all of the benefits and features set forth herein, are also within the scope of this invention. Accordingly, the scope of the present invention is defined only by reference to the appended claims.
A system for measuring performance of an orthotic or prosthetic foot device (30), comprising:
an orthotic or prosthetic foot device (30), the device capable of bending while in use; characterised in that the system further comprises
a bending force sensor (38) extending in an anterior/posterior direction along both sides of a bending axis of the device, wherein the bending force sensor (38) is configured to bend with the device (30) while in use, and wherein the bending force sensor (38) produces a resistance output correlated to the bending of the device.
The system of Claim 1, wherein the bending force sensor (38) is secured to the device (30).
The system of Claim 2, wherein the bending force sensor (38) is adhered along a portion of a surface of the device (30).
The system of any one of the preceding claims, wherein the device (30) is a prosthetic foot (30).
The system of any one of Claims 1-3, wherein the device (30) is an orthotic.
The system of any one of the preceding claims, wherein the bending force sensor (38) is an elongate resistive strip.
The system of any of the preceding claims, wherein the bending force sensor (38) is a variable printed resistor.
The system of any of the preceding claims, wherein the bending force sensor (38) comprises resistive carbon technology.
The system of Claim 6, wherein the resistive strip is configured to measure toe load and heel load on the device.
The system of Claim 6, wherein the resistive strip is configured to measure variations in bending over a designated step cycle.
The system of any one of the preceding claims, further comprising a memory configured to store data related to the bending of the device.
The system of Claim 11, wherein the memory is provided on the foot.
The system of Claim 11, wherein the memory is provided on a device connectable to the foot.
The system of any one of the preceding claims further comprising a user interface (44, 72) configured to communicate data related to the bending of the device.
The system of Claim 14, wherein the user interface (44, 72) comprises a display.
The system of Claim 15, wherein the display is an LED display on the foot.
The system of any one of Claims 14-16, wherein the user interface (44, 72) communicates with the device via a wired (42) or wireless (90) connection.
The system of any one of Claims 14-17, wherein the user interface (44, 72) comprises headphones (140) configured to receive data related to the bending of the device.
A method for measuring bending of an orthotic or prosthetic foot device (30) associated with a limb comprising:
providing an orthotic or prosthetic foot device (30) having at least one bending force sensor (38) extending in an anterior/posterior direction along both sides of a bending axis of the device;
measuring with said bending force sensor (38) the bending of the bending force sensor (38) while the device (30) is in use, said bending force sensor (38) bending with the device (30); and
The method of Claim 19, wherein communicating information comprises communicating information through a user interface (44, 72).
The method of Claim 20, wherein said user interface (44, 72) comprises a computer (130).
The method of any of Claims 20-21, wherein said user interface (44, 72) comprises a PDA (120).
The method of any one of Claims 20-22, wherein said user interface (44, 72) comprises a display on the device.
The method of any one of Claims 20-23, wherein said user interface comprises headphones (140).
The method of any one of Claims 19-24, wherein communicating information comprises communicating said information to a memory.
The method of anyone of Claims 19-25, further comprising controlling said device (30) based on the information communicated.
The method of any one of Claims 19-26, further comprising aligning said device (30) based on the information communicated.
The method of any one of Claims 19-27, wherein the device (30) is a prosthetic foot (30).
the prosthetic foot (30) comprises
an elongated member (34) extending between a front end (47) and a rear end (48), and
a heel member (32) connected to the elongated member (34) and extending rearwardly from a location intermediate the front end (47) and rear end (48) of the elongated member (34); and
the sensor (38) is a bending force sensor comprising a resistive strip laminated on an upper surface of the prosthetic foot (30) and extending in an anterior/posterior direction along both sides of a bending axis of the prosthetic foot (30).
a heel member (32) connected to the elongated member (34) and extending rearwardly from a location intermediate the front end (47) and rear end (48) of the elongated member (34),
wherein the elongated member (34) further comprises a longitudinal slot (49) extending from the front end (47) of the elongated member (34) in a posterior direction toward the rear end (48) of the elongated member (34); and
the sensor (38) is at least one bending force sensor comprising a first elongated portion and a second elongated portion each extending in an anterior/posterior direction along both sides of a bending axis of the elongated foot member (34), wherein the first and second elongated portions of the at least one bending force sensor are located on opposite sides of the longitudinal slot (49) and on an upper surface of the elongated member (34).
EP06748179.6A 2005-02-02 2006-02-01 Sensing systems and methods for monitoring gait dynamics Active EP1843724B1 (en)
PCT/US2006/003473 WO2006083913A2 (en) 2005-02-02 2006-02-01 Sensing systems and methods for monitoring gait dynamics
EP20110156688 Division-Into EP2340789B1 (en) 2005-02-02 2006-02-01 Methods and systems for gathering information regarding a prosthetic foot
EP1843724A2 EP1843724A2 (en) 2007-10-17
EP1843724B1 true EP1843724B1 (en) 2018-07-25
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