Source: http://www.google.com/patents/US7811334?dq=4393663
Timestamp: 2014-12-25 15:23:37
Document Index: 469407174

Matched Legal Cases: ['Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 200580008119']

Patent US7811334 - System and method for motion-controlled foot unit - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsA system and method associated with the movement of a limb. In one example, the system, such as a prosthetic or orthotic system, includes an actuator that actively controls, or adjusts, the angle between a foot unit and a lower limb member. A processing module may control movement of the actuator based...http://www.google.com/patents/US7811334?utm_source=gb-gplus-sharePatent US7811334 - System and method for motion-controlled foot unitAdvanced Patent SearchPublication numberUS7811334 B2Publication typeGrantApplication numberUS 11/056,344Publication dateOct 12, 2010Filing dateFeb 11, 2005Priority dateFeb 12, 2004Fee statusPaidAlso published asCA2556041A1, CN1929797A, CN1929797B, EP1718252A2, EP2564817A2, EP2564817A3, US7431737, US7637957, US20050192677, US20050197717, US20080215161, US20110106274, WO2005079712A2, WO2005079712A3Publication number056344, 11056344, US 7811334 B2, US 7811334B2, US-B2-7811334, US7811334 B2, US7811334B2InventorsHeidrun G. Ragnarsdottir, Arinbjorn V. Clausen, Hjordis Thorhallsdottir, Helgi JonssonOriginal AssigneeOssur Hf.Export CitationBiBTeX, EndNote, RefManPatent Citations (100), Non-Patent Citations (20), Referenced by (3), Classifications (27), Legal Events (5) External Links: USPTO, USPTO Assignment, EspacenetSystem and method for motion-controlled foot unitUS 7811334 B2Abstract A system and method associated with the movement of a limb. In one example, the system, such as a prosthetic or orthotic system, includes an actuator that actively controls, or adjusts, the angle between a foot unit and a lower limb member. A processing module may control movement of the actuator based on data obtained from a sensor module. For instance, sensing module data may include information relating to the gait of a user and may be used to adjust the foot unit to substantially mimic the movement of a natural, healthy ankle. The system may further accommodate, for example, level ground walking, traveling up/down stairs, traveling up/down sloped surfaces, and various other user movements. In addition, the processing module may receive user input or display output signals through an external interface. For example, the processing module may receive a heel height input from the user.
1. A prosthetic system for mimicking the natural movement of an ankle, the prosthetic system comprising:
a pivot assembly attached to a pivot location on the prosthetic foot, wherein the pivot location is near a natural ankle location of the prosthetic foot;
a lower limb member extending in a tibial direction, the lower limb member having an upper end and a lower end, wherein the lower end of the lower limb member is operatively coupled to the prosthetic foot via the pivot assembly;
an actuator operatively coupled to the prosthetic foot and to the lower limb member, wherein the actuator is configured to actively adjust an angle between the lower limb member and the prosthetic foot about the pivot assembly; and
a processing module configured to instruct the actuator to actively adjust the angle between the lower limb member and the prosthetic foot, wherein during a swing phase of the prosthetic foot during movement by a user of the prosthetic system on a surface, the processing module is configured to instruct the actuator to adjust the angle first to a dorsiflexed position and then to a plantarflexed position before contacting the surface with the prosthetic foot.
2. The prosthetic system of claim 1, wherein the actuator comprises a linear actuator.
3. The prosthetic system of claim 1, wherein the actuator is located in a posterior position with respect to the lower limb member.
4. The prosthetic system of claim 1, further comprising at least one sensor configured to measure at least one of position and movement of the prosthetic foot.
5. The prosthetic system of claim 4, wherein the at least one sensor comprises an accelerometer.
6. The prosthetic system of claim 1, wherein the actuator is configured to adjust the angle between the lower limb member and the prosthetic foot to at least twenty degrees less than the angle at the neutral position.
7. The prosthetic system of claim 1, wherein the actuator comprises a first end and a second end, wherein the first end of the actuator is coupled to a first location on the prosthetic foot, and wherein the second end of the actuator is coupled to the lower limb member proximate the upper end of the lower limb member.
8. A system associated with the movement of a limb, the system comprising:
a prosthetic foot having a toe portion and an ankle plate, wherein the ankle plate extends generally rearward and upward from the toe portion;
an elongated attachment member extending in a tibial direction and having an upper end and a lower end, wherein the lower end of the attachment member is pivotably attached to a pivot location on the ankle plate of the prosthetic foot;
an actuator situated in a posterior position with respect to the elongated attachment member and having a lower end and an upper end, wherein the lower end of the actuator is operatively coupled to the ankle plate of the prosthetic foot unit at a first attachment point behind the pivot location, and wherein the upper end of the actuator is operatively coupled to the attachment member, and wherein the actuator is configured to actively adjust an angle between the attachment member and the prosthetic foot unit; and
a processing module configured to instruct the actuator to actively adjust the angle between the prosthetic foot and the attachment member, wherein during a swing phase of the prosthetic foot during ambulation by a user on a ground surface, the processing module is configured to instruct the actuator to adjust the angle first to a dorsiflexed position and then to a plantarflexed position before contacting the ground surface with the prosthetic foot.
9. The system of claim 8, wherein the actuator comprises a linear actuator.
10. The system of claim 9, wherein the linear actuator comprises a screw motor.
11. The system of claim 8, wherein the actuator comprises a rotary actuator.
12. The system of claim 8, further comprising at least one sensor configured to monitor motion of at least one of the prosthetic foot and the attachment member.
13. The system of claim 12, wherein the at least one sensor comprises an accelerometer.
14. The system of claim 12, wherein the at least one sensor comprises a gyroscope.
15. The system of claim 8, further comprising a power source configured to power movement of the actuator.
16. The system of claim 8, further comprising an attachment portion, wherein the attachment portion is configured to facilitate coupling of the attachment member to a stump of an amputee.
17. The system of claim 8, further comprising an attachment portion, wherein the attachment portion is configured to facilitate coupling of the attachment member to a pylon member.
18. A prosthetic system for mimicking the natural movement of an ankle, the prosthetic system comprising:
a prosthetic foot comprising a toe portion, an ankle portion and a heel plate, both the heel plate and the ankle portion extending generally rearward from the toe portion;
a single lower limb member extending in a tibial direction, the lower limb member having an upper end and a lower end, the lower end of the lower limb member being pivotably coupled to the prosthetic foot via a pivot assembly, the pivot assembly being located near a natural ankle location of the prosthetic foot;
an attachment portion at the upper end of the lower limb member comprising a socket connector or a pyramid adapter configured to attach the lower limb member to a pylon member of an amputee or another prosthetic device;
a single actuator having a lower end and an upper end, the lower end of the actuator being coupled to the ankle portion of the prosthetic foot behind the pivot assembly and the upper end of the actuator being coupled to the lower limb member proximate the upper end of the lower limb member, wherein the actuator is configured to actively adjust an angle between the lower limb member and the prosthetic foot about the pivot assembly; and
a processing module configured to instruct the actuator to actively adjust the angle between the lower limb member and the prosthetic foot, wherein the processing module is configured to instruct the actuator during a swing phase of the prosthetic foot during user movement across a surface to actively adjust the angle first to a dorsiflexed position and then to a plantarflexed position before contacting the surface with the prosthetic foot.
RELATED APPLICATIONS The present application claims the benefit of priority under 35 U.S.C. �119(e) of U.S. Provisional Application No. 60/544,259, filed Feb. 12, 2004, and entitled �LOWER LIMB PROSTHESIS WITH ANKLE-MOTION-CONTROLLED FOOT,� and U.S. Provisional Application No. 60/588,232, filed Jul. 15, 2004, and entitled �PROSTHETIC OR ORTHOTIC SYSTEM WITH ANKLE-MOTION-CONTROLLED FOOT,� each of which is incorporated herein by reference in its entirety and is to be considered a part of this specification.
FIG. 2 depicts the prosthesis 100 with the cover 106 removed. As shown, a lower end of the lower limb member 102 is coupled to the foot unit 104 at a pivot assembly 114. As illustrated, the lower limb member 102 is coupled to an ankle plate 103 of the foot unit 104, which extends generally rearward and upward from a toe portion of the foot unit 104. The pivot assembly 114 allows for angular movement of the foot unit 104 with respect to the lower limb member 102. For example, in one embodiment, the pivot assembly 114 advantageously comprises at least one pivot pin. In other embodiments, the pivot assembly 114 comprises a hinge, a multi-axial configuration, a polycentric configuration, combinations of the same or the like. Preferably, the pivot assembly 114 is located on a portion of the foot unit 104 that is near a natural ankle location of the foot unit 104. In other embodiments of the invention, the pivot assembly 114 may be bolted or otherwise releasably connected to the foot unit 104.
FIG. 8 illustrates a graph depicting the possible range of ankle motion of an embodiment of the prosthesis 100 during one full stride on a level surface. As shown, the x-axis of the graph represents various points during one full stride of a user (i.e., 0 to 100 percent). The y-axis represents the ankle angle (Δ) of the prosthesis 100 relative to the ankle angle when the prosthesis is in a neutral position. During one full stride, the ankle angle (Δ)) varies from approximately 20 degrees plantarflexion (i.e., neutral position angle +20 degrees) to approximately 10 degrees dorsiflexion (i.e., neutral position angle −10 degrees).
In addition, the above-described systems may be implemented in prosthetic or orthotic systems other than transtibial, or below-the-knee, systems. For example, in one embodiment of the invention, the prosthetic or orthotic system may be used in a transfemoral, or above-the-knee, system, such as is disclosed in U.S. Provisional Application No. 60/569,512, filed May 7, 2004, and entitled �MAGNETORHEOLOGICALLY ACTUATED PROSTHETIC KNEE� and U.S. Provisional Application No. 60/624,986, filed Nov. 3, 2004, and entitled �MAGNETORHEOLOGICALLY ACTUATED PROSTHETIC KNEE�, each of which is hereby incorporated herein by reference in its entirety and is to be considered as part of this specification. For example, the prosthetic or orthotic system may include both a prosthetic or orthotic ankle and/or a prosthetic or orthotic knee.
In other embodiments, the sensor module 302 may include one or more other types of sensors in combination with, or in place of, accelerometers. For example, the sensor module 302 may include a gyroscope configured to measure the angular speed of body segments and/or the ankle device 304. In other embodiments, the sensor module 302 includes a plantar pressure sensor configured to measure, for example, the vertical plantar pressure of a specific underfoot area. In yet other embodiments, the sensor module 302 may include one or more of the following: kinematic sensors, single-axis gyroscopes, single- or multi-axis accelerometers, load sensors, flex sensors or myoelectric sensors that may be configured to capture data from the user's natural limb. U.S. Pat. Nos 5,955,667, 6,301,964, and 6,513,381, also illustrate examples of sensors that may be used with embodiments of the invention, which patents are herein incorporated by reference in their entireties and are to be considered as part of this specification.
In one embodiment of the invention, the CPU 305 processes data relating to state transitions according to the following table (TABLE 1). In particular, TABLE 1 shows possible state transitions usable with the control system 300. The first column of TABLE 1 lists possible initial states of the ankle device 304, and the first row lists possible second states of the ankle device 304. The body of TABLE 1 identifies the source of data used by the CPU 305 in controlling, or actively adjusting, the actuator 316 and the ankle device 304 during the transition from a first state to a second state; wherein �N� indicates that no additional data is needed for the state transition; �L� indicates that the CPU 305 uses transition logic to determine the adjustments to the ankle device 304 during the state transition; and �I� indicates the CPU receives data from an interface (e.g., interface module 308, external user interface, electronic interface or the like). Transition logic usable with embodiments of the invention may be developed by one with ordinary skill in the relevant art. Examples of transition logic used in similar systems and methods to embodiments of the present invention are disclosed in U.S. Provisional Application No. 60/572,996, entitled �CONTROL SYSTEM AND METHOD FOR A PROSTHETIC KNEE,� filed May 19, 2004, which is hereby incorporated herein by reference and is to be considered as a part of this specification.
Examples of similar or other control systems and other related structures and methods are disclosed in U.S. patent application Ser. No. 10/463,495, filed Jun. 17, 2003, entitled �ACTUATED LEG PROSTHESIS FOR ABOVE-KNEE AMPUTEES,� now published as U.S. Publication No. 2004/0111163; U.S. patent application Ser. No. 10/600,725, filed Jun. 20, 2003, entitled �CONTROL SYSTEM AND METHOD FOR CONTROLLING AN ACTUATED PROSTHESIS,� now published as U.S. Publication No. 2004/0049290; U.S. patent application Ser. No. 10/627,503, filed Jul. 25, 2003, entitled �POSITIONING OF LOWER EXTREMITIES ARTIFICIAL PROPRIOCEPTORS,� now published as U.S. Publication No. 2004/0088057; and U.S. patent application Ser. No. 10/721,764, filed Nov. 25, 2003, entitled �ACTUATED PROSTHESIS FOR AMPUTEES,� now published as U.S. Publication No. 2004/0181289; each which is herein incorporated by reference in its entirety and is to be considered as part of this specification. In addition, other types of control systems that may be used in embodiments of the present invention are disclosed in U.S. Provisional Application No. 60/551,717, entitled �CONTROL SYSTEM FOR PROSTHETIC KNEE,� filed Mar. 10, 2004; U.S. Provisional Application No. 60/569,511, entitled �CONTROL SYSTEM AND METHOD FOR A PROSTHETIC KNEE,� filed May 7, 2004; and U.S. Provisional Application No. 60/572,996, entitled �CONTROL SYSTEM AND METHOD FOR A PROSTHETIC KNEE,� filed May 19, 2004, which are herein incorporated by reference in their entireties to be considered as part as this specification.
Type/Gait
to −z�;
if incline angle > y�, ankle will adjust to −w�,
Example: If decline angle > x�, ankle will adjust to
z�; if decline angle > y�, ankle will adjust to w�,
Stepless heel height adjustment up to 20� plantarflexion
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No. 11/077,177, filed Mar. 9, 2005)Referenced byCiting PatentFiling datePublication dateApplicantTitleUS8122772Dec 29, 2010Feb 28, 2012�ssur hfSensing systems and methods for monitoring gait dynamicsUS8480760Apr 12, 2011Jul 9, 2013Northwestern UniversityPassive ankle-foot prosthesis and orthosis capable of automatic adaptation to sloped walking surfaces and method of useUS8696764Jan 20, 2012Apr 15, 2014Northwestern UniversityFurther improvements to ankle-foot prosthesis and orthosis capable of automatic adaptation to sloped walking surfacesClassifications U.S. Classification623/50, 623/24International ClassificationA61F5/052, A61F2/66, A61F2/72, A61F2/76, A61F2/68, A61F2/48, A61F2/70, A61F2/50Cooperative ClassificationA61F2002/704, A61F2/68, A61F2002/6685, A61F2002/7635, A61F2002/7645, A61F2/6607, A61F2002/5018, A61F2/66, A61F2002/764, A61F2002/705, A61F2/72, A61F2002/5073, A61F2002/6642, A61F2013/00455, A61F2002/701European ClassificationA61F2/68, A61F2/66Legal EventsDateCodeEventDescriptionMar 27, 2014FPAYFee paymentYear of fee payment: 4Jun 28, 2011CCCertificate of correctionOct 16, 2006ASAssignmentOwner name: OSSUR HF., ICELANDFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:OSSUR ENGINEERING, INC.;REEL/FRAME:018410/0107Effective date: 20060814Sep 29, 2005ASAssignmentOwner name: KAUPTHING BANK HF, NEW YORKFree format text: SECURITY AGREEMENT;ASSIGNOR:OSSUR ENGINEERING, INC.;REEL/FRAME:016613/0952Effective date: 20050901Owner name: KAUPTHING BANK HF,NEW YORKFree format text: SECURITY AGREEMENT;ASSIGNOR:OSSUR ENGINEERING, INC.;US-ASSIGNMENT DATABASE UPDATED:20100406;REEL/FRAME:16613/952May 18, 2005ASAssignmentOwner name: OSSUR ENGINEERING, INC., MICHIGANFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:RAGNARSDOTTIR, HEIDRUN G.;CLAUSEN, ARINBJORN V.;THORHALLSDOTTIR, HJORDIS;AND OTHERS;REEL/FRAME:016572/0342Effective date: 20050513RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google