Source: https://patents.google.com/patent/US7431737B2/en
Timestamp: 2019-08-22 23:42:23
Document Index: 175307133

Matched Legal Cases: ['§ 119', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60']

US7431737B2 - System and method for motion-controlled foot unit - Google Patents
System and method for motion-controlled foot unit Download PDF
US7431737B2
US7431737B2 US11/057,391 US5739105A US7431737B2 US 7431737 B2 US7431737 B2 US 7431737B2 US 5739105 A US5739105 A US 5739105A US 7431737 B2 US7431737 B2 US 7431737B2
US11/057,391
US20050192677A1 (en
Heidrun G. Ragnarsdottir
Arinbjorn V. Clausen
2004-02-12 Priority to US54425904P priority Critical
2004-07-15 Priority to US58823204P priority
2005-02-11 Application filed by Ossur hf filed Critical Ossur hf
2005-02-11 Priority to US11/057,391 priority patent/US7431737B2/en
2005-05-18 Assigned to OSSUR ENGINEERING, INC. reassignment OSSUR ENGINEERING, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CLAUSEN, ARINBJORN V., JONSSON, HELGI, RAGNARSDOTTIR, HEIDRUN G., THORHALLSDOTTIR, HJORDIS
2005-09-01 Publication of US20050192677A1 publication Critical patent/US20050192677A1/en
2006-03-01 Priority claimed from US11/367,048 external-priority patent/US7637959B2/en
2006-10-16 Assigned to OSSUR HF. reassignment OSSUR HF. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: OSSUR ENGINEERING, INC.
2008-10-07 Publication of US7431737B2 publication Critical patent/US7431737B2/en
2011-11-15 First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=34890463&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=US7431737(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
2011-11-15 US case filed in California Central District Court litigation https://portal.unifiedpatents.com/litigation/California%20Central%20District%20Court/case/8%3A11-cv-01759 Source: District Court Jurisdiction: California Central District Court "Unified Patents Litigation Data" by Unified Patents is licensed under a Creative Commons Attribution 4.0 International License.
2012-06-15 US case filed in Massachusetts District Court litigation https://portal.unifiedpatents.com/litigation/Massachusetts%20District%20Court/case/1%3A12-cv-11061 Source: District Court Jurisdiction: Massachusetts District Court "Unified Patents Litigation Data" by Unified Patents is licensed under a Creative Commons Attribution 4.0 International License.
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.
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.
Preferred embodiments of this invention relate to systems and methods having a motion-controlled limb and, in particular, an ankle-motion-controlled foot.
FIGS. 5 and 6 illustrate one embodiment of the prosthesis 100 as it adjusts to inclines and declines. With reference to FIG. 5, the prosthesis 100 is depicted as adjusting to an incline. In this embodiment, the actuator 116 extends so as to decrease an angle 0 between the lower limb member 102 and the foot unit 104 (or “dorsiflexion”). With respect to dorsiflexion, in one embodiment, the angular range of motion of the prosthesis 100 is from about 0 to 10 degrees from the neutral position. Other embodiments may also facilitate exaggerated dorsiflexion during swing phase.
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 plantarfiexion (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 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.
FROM STATE HEIGHT
TO STATE OFF _CAL SENSOR_CAL NEUTRAL WALK STAIRS_UP STAIRS_DOWN RELAX PANTS
_CAL L N N L N N N N N
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.
Ascending Stairs Anide adjusts to dorsiflexion (e.g., 7.5°)
- Example: If incline angle > x°, ankle will adjust to
−z°; if incline angle > y°, ankle will adjust to −w°,
wherein x = 2.5° and y = 5°.
Decline Ankle adjusts to plantarfiexion:
- Example: If decline angle > x°, ankle will adjust to
z°; if decline angle > y°, ankle will adjust to w°,
wherein x = 2.50 and y = 5°
Adjust Heel Stepless heel height adjustment up to
Height 20° plantarflexion
1. A method for controlling an ankle device associated with the movement of a limb, the method comprising:
monitoring, with at least one sensor, at least one of position and movement of an ankle device associated with a limb throughout at least one gait cycle, wherein the device comprises a foot unit, a lower limb member, and at least one actuator;
generating data indicative of the at least one of position and movement throughout the at least one gait cycle;
processing the data with a processing module to determine if the data corresponds to one of a plurality of defined gait patterns or events, wherein information defining said plurality of gait patterns or events is stored in a memory of the device;
determining ankle-angle adjustments corresponding to a determined gait pattern or event; and
adjusting the device based on the determined ankle-angle adjustments corresponding to the determined gait pattern or event, wherein the adjusting comprises actuating the at least one actuator to move the lower limb member relative to the foot unit in a manner substantially mimicking movement of a healthy ankle, said ankle-angle adjustments being applied over a swing phase of subsequent gait cycles until a state transition is detected from the determined gait pattern or event to a different gait pattern or event.
2. The method of claim 1, wherein the device comprises an orthotic device.
3. The method of claim 1, wherein the device comprises a prosthetic device.
4. The method of claim 1, additionally comprising determining a security factor, wherein the actuating occurs only if the security factor exceeds a determined threshold.
5. The method of claim 1, additionally comprising substantially locking the device in a fixed position when a battery power level drops below a determined threshold.
6. The method of claim 1, wherein the at least one sensor is located on the device.
7. The method of claim 1, wherein the actuating comprises at least one of the following: extending and contracting the at least one actuator.
8. The method of claim 1, additionally comprising adjusting a heel height of the device.
9. The method of claim 1, wherein the at least one sensor is located on the limb.
10. A method for controlling a prosthetic ankle device, the method comprising:
monitoring, with at least one sensor, at least one of position and movement of a prosthetic ankle device, wherein the at least one sensor generates data indicative of the at least one of position and movement of the prosthetic ankle device, and wherein the prosthetic ankle device comprises a foot unit, a lower limb member, and at least one actuator;
receiving and processing the data with a control module to determine if the data corresponds to one of a plurality of defined gait patterns or events, wherein information defining the plurality of gait patterns or events is stored in a memory of the device;
outputting with the control module at least one control signal based on a determined gait pattern or event; and
adjusting the prosthetic ankle device based at least upon the control signal, wherein said adjusting comprises actuating the at least one actuator to move the lower limb member relative to the foot unit in a manner substantially mimicking movement of a healthy ankle, said actuating occurring as the prosthetic ankle device is operated during a swing phase of the device, and wherein said actuating does not occur during a stance phase of the ankle device, and said adjusting being applied at least until a new gait pattern or event is determined.
11. The method of claim 10, additionally comprising receiving and processing data indicative of at least one terrain variable.
12. The method of claim 10, wherein the adjusting comprises movement of the prosthetic ankle device within the range of approximately ten degrees dorsiflexion to approximately twenty degrees plantarfiexion.
13. The method of claim 10, wherein the at least one sensor is positioned on the prosthetic ankle device.
14. The method of claim 13, wherein the at least one sensor comprises at least one accelerometer.
15. The method of claim 10, wherein the monitoring comprises monitoring acceleration of the prosthetic ankle device in multiple different axes.
16. The method of claim 10, additionally comprising providing dampening to counteract unwanted movements of the prosthetic ankle device.
17. The method of claim 10, additionally comprising substantially locking the prosthetic ankle device at a fixed angle when a power source associated with the prosthetic ankle device falls below a particular threshold power level.
18. The method of claim 10, additionally comprising receiving from a user a second signal indicative of a heel height adjustment.
19. The method of claim 10, wherein adjusting the prosthetic ankle device comprises causing rotation about a pivot point of the prosthetic ankle device.
20. The method of claim 11, wherein the at least one terrain variable includes data indicative of a slope of the ground surface.
21. The method of claim 1, wherein the device associated with a limb is a device attachable to a limb.
22. The method of claim 1, wherein the plurality of defined gait patterns or events comprises at least one of the following: stance, level ground walking, ascending stairs, descending stairs, incline, decline, sitting down, sitting, standing up, adjust heel height, off, heel height calibration, sensor calibration, neutral, relax, and pants.
23. A method for controlling a prosthetic ankle device, the method comprising:
monitoring, with at least one sensor, at least one of position and movement of a prosthetic ankle device, wherein the device comprises a foot unit, a single lower limb member pivotally attached to the foot unit and at least one actuator having a first end connected to the foot unit and a second end connected to the lower limb member, the at least one actuator configured to adjust an ankle angle between the foot unit and the lower limb member;
generating data indicative of the at least one of position and movement;
processing the data with a processing module to determine a gait cycle phase;
during stance phases, not adjusting the ankle angle of the device; and
during swing phase, actuating the at least one actuator to move the foot unit relative to the lower limb member in a manner that substantially mimics movement of a healthy ankle by first decreasing an ankle angle of the device to a dorsiflexion position and then increasing the ankle angle of the device to a plantarfiexion position.
24. The method of claim 23, wherein the device comprises a single actuator.
25. The method of claim 23, wherein the at least one actuator is configured to adjust the angle between the foot unit and the lower limb member in only a substantially vertical plane.
26. The method of claim 1, comprising using the data to generate a waveform that portrays the gait of the limb.
27. The method of claim 1, further comprising sampling data over at least one stride before determining if the data corresponds to one of a plurality of gait patterns or events.
28. The method of claim 10, wherein the plurality of defined gait patterns or events comprises at least one of the following: standing, level ground walking, ascending stairs, descending stairs, walking up an incline, walking down a decline, sitting down, sitting, standing up, adjusting heel height, neutral, relaxing, and putting on pants.
29. The method of claim 10, wherein the data is generated according to an adjustable sampling rate.
30. The method of claim 29, wherein the sampling rate is 100 hertz (Hz) or more.
31. The method of claim 1, wherein said ankle-angle adjustments being applied over a swing phase of subsequent gait cycles until the state transition is detected comprises repeatedly actuating the at least one actuator during swing phases of subsequent gait cycles until the state transition is detected, said ankle-angle adjustments during swing phases comprising first decreasing an ankle angle of the device to a dorsiflexion position and then increasing the ankle angle of the device to a plantarfiexion position before contacting ground.
32. The method of claim 1, wherein said ankle-angle adjustments being applied over a swing phase of subsequent gait cycles until the state transition is detected comprises actuating the at least one actuator during swing phases of subsequent gait cycles until the state transition is detected, wherein ankle-angle adjustments are not applied during stance phases of subsequent gait cycles.
33. The method of claim 1, wherein a gait cycle comprises one full stride of a user.
34. The method of claim 1, wherein the determined ankle-angle adjustments comprise at least one of the following: toe clearance; user set point; set heel height; relax ankle; a desired degree of dorsiflexion; a desired degree of plantarfiexion; ten degrees of dorsiflexion; five degrees of dorsiflexion; seven and a half degrees of dorsiflexion; 20 degrees of plantarfiexion; an ankle angle associated with an incline angle threshold level; an ankle angle associated with a decline angle threshold level; an ankle angle associated with an incline angle of five degrees; an ankle angle with an incline angle of two and a half degrees; an ankle angle associated with a decline angle of five degrees; and an ankle angle associated with a decline angle of two and a half degrees.
35. The method of claim 10, wherein said adjusting being applied at least until a new gait pattern or event is determined comprises actuating the at least one actuator, during a swing phase, to create an ankle angle between the lower limb member and the foot unit, wherein the ankle angle is not adjusted during stance phases of subsequent strides.
36. The method of claim 10, wherein said adjusting being applied at least until a new gait pattern or event is determined includes repeatedly actuating the at least one actuator during swing phases of subsequent strides until a state transition is detected to the new gait pattern or event, said actuating comprising first decreasing an ankle angle of the device to a dorsiflexion position and then increasing the ankle angle of the device to a plantarfiexion position before contacting ground.
37. The method of claim 23, wherein a gait cycle comprises one full stride of a user.
38. The method of claim 23, wherein not adjusting the ankle angle of the device comprises locking the device into a neutral position.
39. The method of claim 23, wherein the dorsiflexion position is at least 5 degrees from a neutral position, and wherein the ankle angle of the device in the dorsiflexion position is less than the ankle angle of the device in the neutral position.
40. The method of claim 23, wherein the plantarfiexion position is up to twenty degrees from a neutral position, and wherein the ankle angle of the device in the plantarfiexion position is greater than the ankle angle of the device in the neutral position.
41. The method of claim 23, wherein, during the swing phase, the ankle angle of the device is first adjusted from a neutral position to the dorsiflexion position, is then adjusted from the dorsiflexion position to the plantarfiexion position, and is then adjusted from the plantarfiexion position back to the neutral position.
42. The method of claim 23, wherein the stance phase is approximately sixty percent of a stride of a user of the device.
43. The method of claim 23, wherein the swing phase is approximately forty percent of a stride of a user of the device.
US11/057,391 2004-02-12 2005-02-11 System and method for motion-controlled foot unit Active US7431737B2 (en)
US54425904P true 2004-02-12 2004-02-12
US58823204P true 2004-07-15 2004-07-15
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US11/367,049 Continuation-In-Part US7896927B2 (en) 2004-02-12 2006-03-01 Systems and methods for actuating a prosthetic ankle based on a relaxed position
US12/117,633 Division US7637957B2 (en) 2004-02-12 2008-05-08 System and method for motion-controlled foot unit
US20050192677A1 US20050192677A1 (en) 2005-09-01
US7431737B2 true US7431737B2 (en) 2008-10-07
ID=34890463
US11/057,391 Active US7431737B2 (en) 2004-02-12 2005-02-11 System and method for motion-controlled foot unit
US11/056,344 Active 2028-04-07 US7811334B2 (en) 2004-02-12 2005-02-11 System and method for motion-controlled foot unit
US12/117,633 Active US7637957B2 (en) 2004-02-12 2008-05-08 System and method for motion-controlled foot unit
US12/891,085 Abandoned US20110106274A1 (en) 2004-02-12 2010-09-27 System and method for motion-controlled foot unit
US14/573,220 Pending US20150164661A1 (en) 2004-02-12 2014-12-17 System and method for motion-controlled foot unit
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WO2005079712A3 (en) 2005-12-08
JP2012130711A (en) 2012-07-12
EP2564817A2 (en) 2013-03-06
JP2007524483A (en) 2007-08-30
JP5013881B2 (en) 2012-08-29
CA2556041A1 (en) 2005-09-01
AU2005215769B2 (en) 2012-01-19
EP1718252B1 (en) 2018-01-10
EP2564817A3 (en) 2013-08-21
EP1718252A2 (en) 2006-11-08
US20150164661A1 (en) 2015-06-18
CN1929797B (en) 2010-05-26
EP2564817B1 (en) 2019-01-16
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US7811334B2 (en) 2010-10-12
CN1929797A (en) 2007-03-14
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AU2005215769A1 (en) 2005-09-01
AU2005215769A2 (en) 2005-09-01
WO2005079712A2 (en) 2005-09-01
CA2556041C (en) 2015-04-21
US20110106274A1 (en) 2011-05-05
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2013-03-05 RR Request for reexamination filed
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