Source: http://www.google.com/patents/US7955398?dq=7,177,838
Timestamp: 2017-04-25 00:28:32
Document Index: 495266875

Matched Legal Cases: ['art.\n2', 'Application No. 2003286025', 'Application No. 2003286025', 'Application No. 2', 'Application No. 200380110708', 'Application No. 200380110708', 'Application No. 10']

Patent US7955398 - Instrumented prosthetic foot - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inPatentsAn instrumented prosthetic foot for use with an actuated leg prosthesis controlled by a controller, the instrumented prosthetic foot comprising a connector to connect the instrumented prosthetic foot to the leg prosthesis, an ankle structure connected to the connector, a ground engaging member connected...http://www.google.com/patents/US7955398?utm_source=gb-gplus-sharePatent US7955398 - Instrumented prosthetic footAdvanced Patent SearchTry the new Google Patents, with machine-classified Google Scholar results, and Japanese and South Korean patents.Publication numberUS7955398 B2Publication typeGrantApplication numberUS 11/891,098Publication dateJun 7, 2011Filing dateAug 9, 2007Priority dateNov 18, 2003Fee statusPaidAlso published asUS8323354, US8986397, US20050107889, US20080046096, US20080058959, US20120191220, US20120191221Publication number11891098, 891098, US 7955398 B2, US 7955398B2, US-B2-7955398, US7955398 B2, US7955398B2InventorsStephane Bedard, Pierre-Olivier RoyOriginal AssigneeVicthom Human Bionics, Inc.Export CitationBiBTeX, EndNote, RefManPatent Citations (75), Non-Patent Citations (8), Referenced by (41), Classifications (22), Legal Events (4) External Links: USPTO, USPTO Assignment, EspacenetInstrumented prosthetic foot
US 7955398 B2Abstract
An instrumented prosthetic foot for use with an actuated leg prosthesis controlled by a controller, the instrumented prosthetic foot comprising a connector to connect the instrumented prosthetic foot to the leg prosthesis, an ankle structure connected to the connector, a ground engaging member connected to the ankle, at least one sensor for detecting changes in weight distribution along the foot, and an interface for transmitting signals from the sensor to the controller.
1. An instrumented prosthetic foot, the instrumented prosthetic foot comprising:
an elongated foot plate having a top and a bottom part;
an ankle structure pivotally connected to the elongated foot plate top part;
a connector to operably connect the instrumented prosthetic foot to a user;
a first rotational sensor positioned on the ankle structure about its pivot axis with the elongated foot plate, the first sensor being configured to measure the rotation of the ankle structure about its pivot axis; and
a second sensor interposed between the connector and the ankle structure, the second sensor being configured to measure the pressure force on the connector;
wherein the ankle structure and second sensor are connected between the connector and the top part.
2. An instrumented prosthetic foot according to claim 1, wherein: the first sensor is an optical encoder.
3. An instrumented prosthetic foot according to claim 1, wherein: the second sensor is a load cell.
4. An instrumented prosthetic foot according to claim 1, wherein: the first and second sensor are configured to transmit signals to a controller of an actuated leg prosthesis using a wired connection.
5. An instrumented prosthetic foot according to claim 1, wherein: the first and second sensor are configured to transmit signals to a controller of an actuated leg prosthesis using a wireless connection.
6. An instrumented prosthetic foot according to claim 1, wherein: the first and second sensor are configured to transmit signals to a controller of an actuated leg prosthesis using an optical interface.
7. An instrumented prosthetic foot according to claim 1, wherein: the connector removably connects the instrumented prosthetic foot to a leg prosthesis.
8. An instrumented prosthetic foot system, the system comprising:
an instrumented foot comprising an elongated foot plate having a top and a bottom part and a toe and a heel region;
a first rotational sensor positioned on the ankle structure about its pivot axis with the elongated foot plate configured to measure the rotation of the ankle structure about its pivot axis;
a second sensor interposed between the connector and the ankle structure configured to measure the pressure force on the connector; and
a controller configured to receive data relative to the position of the ankle structure about its pivot axis from the first sensor and to the pressure force on the connector from the second sensor, and configured to determine the torque between the elongated foot plate top part and the connector using the received data.
9. An instrumented prosthetic foot system according to claim 8, wherein: the controller further determines the pressure force on the toe and the heel region of the elongated foot plate using the received data.
10. An instrumented prosthetic foot system according to claim 8, wherein the controller determines the torque via the following equation:
M=RANKLERCONST;
M is the torque;
RANKLE is the data relative to rotation of the ankle structure about its pivot axis measured by the first sensor;
RCONST is a constant associated with the rotation of the ankle about its axis.
11. An instrumented prosthetic foot system according to claim 10, wherein the controller further determines the pressure force on the toe and the heel region of the elongated foot plate via the following equation:
F TOE=(M+F S2 L HEEL)/(L HEEL +L TOE);
F HEEL=(−M+F S2 L TOE)/(L •HEEL +L TOE);
FS2 is the pressure force measured by the second sensor;
FTOE is the pressure force on the toe region of the elongated foot plate;
FHEEL is the pressure force on the heel region of the elongated foot plate;
LTOE is the distance between a center of the connector and a center of the toe region; and
L•HEEL is the distance between the center of the connector and a center of the heel region.
12. An instrumented prosthetic foot system according to claim 8, wherein: the first and second sensor transmit signals to the controller using a wired connection.
13. An instrumented prosthetic foot system according to claim 8, wherein: the first and second sensor transmit signals to the controller using a wireless connection.
14. An instrumented prosthetic foot system according to claim 8, wherein: the first and second sensor transmit signals to the controller using an optical interface.
15. An instrumented prosthetic foot system according to claim 8, wherein: the connector removably connects the instrumented prosthetic foot to a leg prosthesis.
16. An instrumented prosthetic foot system according to claim 8, wherein: the first sensor is an optical encoder.
17. An instrumented prosthetic foot system according to claim 8, wherein: the second sensor is a load cell.
18. An instrumented prosthetic foot according to claim 1, wherein: the second sensor is configured to measure an axial force on the connector.
19. An instrumented prosthetic foot system according to claim 8, wherein: the second sensor is configured to measure an axial force on the connector. Description
This application is a Divisional of U.S. patent application Ser. No. 10/715,989, entitled “INSTRUMENTED PROSTHETIC FOOT”, filed Nov. 18, 2003 now abandoned.
FIG. 7 is a perspective view, from the front and slightly above, of another alternative embodiment of the instrumented prosthetic foot of FIG. 3 FIG. 8 is an exploded perspective view of the instrumented prosthetic foot of FIG. 7.
FIG. 10 is a perspective view, from the front and slightly above, of a further still alternative embodiment of the instrumented prosthetic foot of FIG. 3 FIG. 11 is an exploded perspective view of the instrumented prosthetic foot of FIG. 10.
FIG. 12 is a perspective view, from the front and slightly above, of a yet further still alternative embodiment of the instrumented prosthetic foot of FIG. 3 FIG. 13 is an exploded perspective view of the instrumented prosthetic foot of FIG. 12.
FIG. 14 is a perspective view, from the front and slightly above, of a further alternative embodiment of the instrumented prosthetic foot of FIG. 3 FIG. 15 is an exploded perspective view of the instrumented prosthetic foot of FIG. 14.
As illustrated in FIG. 1, the sensors (22A, 22B,) may comprise localized plantar pressure sensors located at spaced locations on the prosthetic foot (20) to measure the vertical plantar pressure of a specific underfoot area. Similarly, the plantar pressure sensors (24A, 24B) located on the side of the healthy foot may be provided at spaced locations in a custom-made insole, preferably in the form of a standard orthopaedic insole, that is modified to embed the two sensors (24A, 24B) for the measurement of two localized plantar pressures. The sensors (22A, 22B, 24A, 24B) are operable to measure the weight transfer along the foot as the individual moves which may be combined with other sensors (26) such as kinematic sensors to measure the angular speed of body segments of the lower extremities and kinematic sensors to measure the angle of the prosthesis (14) knee joint.
The rigid plates (52A, 52B) covering the sensors (22A, 22B), although not essential, help to optimize the pressure distribution on the entire surface of the sensors (22A, 22B) as well as inhibiting any shearing and may be made of 85A durometer polyurethane. Of course, other type of material may be used as well.
The pads (54A, 54B) wrap up the rigid plates (52A, 52B) and the sensors (22A, 22B), forming a ground engaging member, in order to optimize the contact between the instrumented prosthetic foot (20) and the ground. The pads (54A, 54B) may be made of 40A durometer polyurethane. Of course, other type of material may be used as well.
As for the previous embodiment, rigid plates (62A, 62B) covering the sensors (22A, 22B), although not essential, help to optimize the pressure distribution on the entire surface of the sensors (22A, 22B) as well as inhibiting any shearing and may be made of 85A durometer polyurethane. Of course, other type of material may be used as well.
Again, as for the previous embodiments, rigid plates (72A, 72B) covering the sensors (22A, 22B), although not essential, help to optimize the pressure distribution on the entire surface of the sensors (22A, 22B) as well as preventing any shearing and may be made of 85A durometer polyurethane. Of course, other type of material may be used as well.
F_toe
M_ankle
_meas
F_conn
I_heel
I_toe
F_heel
where F_22B is the force measured at sensor 22B; F_22A is the force measured at sensor 22A; I_22B is the distance between the center of the connector (81) and the center of sensor 22B; I_22A is the distance between the center of the connector (81) and the center of sensor 22A. In the previous embodiments of the instrumented prosthetic foot (20), the force (or pressure) at the toe and heel areas, F_toe and F_heel respectively, was obtained either by positioning pressure sensors (22A, 22B) directly at those areas or by positioning pressure sensors or load cells (22A, 22B) in other areas and obtaining the equivalent information by computing the equivalent torque at the ankle and the axial force at the connector. Other types of sensors may also be used to obtain the equivalent torque at the ankle and the axial force at the connector. Such an example is illustrated by a further still embodiment of the instrumented prosthetic foot (20), which is shown in FIGS. 12 and 13. The instrumented prosthetic foot (20) includes connector (91), mounted on pivoting ankle (93). Bumpers (92A, 92B) are positioned between the pivoting ankle (93) and rocker plate (95) located on a foot plate (94). The pivoting ankle (93) is connected to the rocker plate (95) by a pivot pin (96). Such an arrangement is provided by, for example, an Elation® prosthetic foot from Össur. A load cell (22A) and an optical encoder (22B) are incorporated into the foot (20) to provide measurement of the distribution of forces along the foot (20). Load cell (22A) is positioned between connector (91) and pivoting ankle (93). Optical encoder (22B) comprises reader (221) and disk (223). Reader (221) is located on pivoting ankle (93) while disk (223) is located on rocker plate (95) and encircles pivot pin (96). Once again, Equation 3 and Equation 4 may be used, for example by controller (40), to compute the equivalent pressures at the toe and heel areas by defining the equivalent torque at the ankle and the axial force at connector (91) as follows:
where F_22A is the force measured at sensor 22A; R_ankle_meas is the rotation measurement of pivoting ankle (93) about pivot pin (96) as measured by optical encoder (22B); R_const is a constant associated with the resistance of bumpers (92A, 92B) to compression, which constant varies depending in the material used. A yet further alternative embodiment of the instrumented prosthetic foot (20) is shown in FIGS. 14 and 15. The instrumented prosthetic foot (20) includes connector (101), mounted on pivoting ankle (103). Bumpers (102A, 102B) are positioned between the pivoting ankle (103) and rocker plate (105) located on a foot plate (104). The pivoting ankle (103) is connected to the rocker plate (105) by a pivot pin (106). Such an arrangement is provided by, for example, an Elation® prosthetic foot from Össur. Pressure sensors (22A, 22B) and load cell (22C) are incorporated into the foot (20) to provide measurement of the distribution of forces along the foot (20). Pressure sensor (22A) is positioned between rocker plate (85) and bumper (82A) while pressure sensor (22B) is positioned between rocker plate (85) and bumper (82B). A load cell (22C) is positioned between connector (91) and pivoting ankle (93).
F_conn_meas=F—22C Equation 9
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A61F2002/705, A61F2/72European ClassificationA61F2/66, A61F2/68Legal EventsDateCodeEventDescriptionFeb 6, 2008ASAssignmentOwner name: VICTHOM HUMAN BIONICS, INC., QUEBECFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:BEDARD, STEPHANE;ROY, PIERRE-OLIVIER;REEL/FRAME:020471/0344Effective date: 20040405Jul 3, 2012CCCertificate of correctionDec 4, 2014FPAYFee paymentYear of fee payment: 4Oct 20, 2016ASAssignmentOwner name: VICTHOM LABORATORY INC., CANADAFree format text: MERGER AND CHANGE OF NAME;ASSIGNORS:VICTHOM HUMAN BIONICS INC.;VICTHOM LABORATORY INC.;REEL/FRAME:040446/0799Effective date: 20130426RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services