72 results about "Stance phase" patented technology

The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.

A lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports configurable to be coupled to the person's lower limbs and configured to rest on the ground during their stance phases. Each leg support comprises a thigh link, a shank link, and two knee joints. Each knee joint is configured to allow flexion and extension between the respective shank link and the respective thigh link. The lower extremity exoskeleton also comprises an exoskeleton trunk configurable to be coupled to the person's upper body. The exoskeleton trunk is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. In this exemplary embodiment, the energy required for flexion and extension movement between the shank link and the respective thigh link of a leg support over a cyclic knee motion is provided by the person.

An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.

The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.

A lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports configurable to be coupled to the person's lower limbs and configured to rest on the ground during their stance phases. Each leg support comprises a thigh link, a shank link, and two knee joints. Each knee joint is configured to allow flexion and extension between the respective shank link and the respective thigh link. The lower extremity exoskeleton also comprises an exoskeleton trunk configurable to be coupled to the person's upper body. The exoskeleton trunk is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. In this exemplary embodiment, the energy required for flexion and extension movement between the shank link and the respective thigh link of a leg support over a cyclic knee motion is provided by the person.

A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.

A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.

A method and system for analyzing gait asymmetry between left and right feet of individuals by measuring and comparing stance phase time and / or stance phase force between left and right feet during gait, and providing real-time sensory feedback if stance phase time / force inequality exceeds a predetermined threshold.

A prosthetic knee provides a single axis of rotation and includes a hydraulic damping cylinder, a microprocessor, and sensors. Based on input from the sensors, the microprocessor selects a flow path within the hydraulic cylinder in order to provide the proper amount of knee resistance to bending for a given situation. The resistance of each flow path within the hydraulic cylinder is manually preset. Changes in gait speed are accommodated by employing a hydraulic damper with intelligently designed position sensitive damping. Moreover, the knee need not be un-weighted to transition from the stance phase to the swing phase of gait. As a result, the knee safely provides a natural, energy efficient gait over a range of terrains and gait speeds and is simpler, less costly, and lighter weight than the prior art.

A prosthetic knee provides a single axis of rotation and includes a hydraulic damping cylinder, a microprocessor, and sensors. Based on input from the sensors, the microprocessor selects a flow path within the hydraulic cylinder in order to provide the proper amount of knee resistance to bending for a given situation. The resistance of each flow path within the hydraulic cylinder is manually preset. Changes in gait speed are accommodated by employing a hydraulic damper with intelligently designed position sensitive damping. Moreover, the knee need not be un-weighted to transition from the stance phase to the swing phase of gait. As a result, the knee safely provides a natural, energy efficient gait over a range of terrains and gait speeds and is simpler, less costly, and lighter weight than the prior art.

A walking gait detection apparatus includes a microphone for picking up low-frequency-band sounds that are transmitted through the body of a pedestrian while walking and an analyzer for performing analysis. Accordingly, the gait of the pedestrian is detected. It is also possible to distinguish the gait pattern on the basis of the stance-phase time of a foot sole and the signal intensity, for example. The gait detection apparatus can accurately estimate the stride length on the basis of a detected gait cycle, the height of the pedestrian, and signals detected during walking. On the basis of low-frequency sounds picked up by the microphone while the pedestrian is walking, the pedestrian can be identified.

A above knee prosthesis (P) applied to femoral connection (100) of an amputee that comprises a upper hinge (1) connected to femoral connection of the patient, an articulation axis (2) with the function of reproducing the knee movements, a tibia-calf muscle unit (3) pivotally connected to the femoral•segment and a damper (5) that reproduces some functions of the calf muscle and ensures to the prosthesis to brake and to allow the sequential swing and stance phases typical of the gait. The damper comprises a cylinder (5c) wherein a piston (10) and a stem (9) act connected to each other and adapted to carry out a damping reaction of said damper responsive to the forces loaded on the prosthesis. In particular, a force transducer is provided in the damper arranged, in particular, in the stem with a microprocessor that receives a force signal from the transducer and operates means for adjusting the reaction of the damper responsive to the detected force signal.

A walking gait detection apparatus includes a microphone for picking up low-frequency-band sounds that are transmitted through the body of a pedestrian while walking and an analyzer for performing analysis. Accordingly, the gait of the pedestrian is detected. It is also possible to distinguish the gait pattern on the basis of the stance-phase time of a foot sole and the signal intensity, for example. The gait detection apparatus can accurately estimate the stride length on the basis of a detected gait cycle, the height of the pedestrian, and signals detected during walking. On the basis of low-frequency sounds picked up by the microphone while the pedestrian is walking, the pedestrian can be identified.

An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.

A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.

A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.

The invention discloses a quadruped robot motion planning method oriented to an unknown rough terrain. A quadruped robot uses a crawling gait in a rough terrain. In a single-legged swing phase, a swinging leg swings along a planned foot trajectory and the center of gravity of the robot moves forwards along the planned path by means of the motion of supporting legs. In a four-foot stance phase, the center of gravity of the robot laterally moves while moving forwards along the planned path. The quadruped robot motion planning method achieves robot online trajectory planning based on COG and ZMP dual-stability criteria, takes full account of the possibility of advanced landing and lagged landing of the swinging leg for the unknown terrain, and estimates the parameter of the unknown terrain by the landing planning and the sensing strategy of the swinging leg. Thus, the robot adaptively adapts to the height and the slope of the unknown terrain, and achieves continuous adaptive walking for the unknown rough terrain according to a motion planning result.

The invention provides a polymer electrolyte, its preparation method and a battery comprising the polymer electrolyte. The polymer electrolyte contains a stance phase and an ionic conductive phase adsorbed on the stance phase. The stance phase is an electrostatic spinning fiber film, and the ionic conductive phase includes a polymer able to undergo complexation with lithium ions and a lithium salt. The polymer able to undergo complexation with lithium ions contains an ether oxygen functional group. A bi-continuous phase composite electrolyte film characterized by high mechanical strength, good flexibility, high ionic conductivity, good thermal stability, high interface stability and good electrochemical stability can be obtained, and the preparation process is simple and is low in cost. The prepared material can be widely used in mobile phones, notebook computers and other mobile devices, as well as electric vehicles and other fields, and has strong practical significance to development of the battery industry. The polymer battery involved in the invention is different from liquid or gel state batteries, is free of plasticizer, does not cause leakage and other potential safety hazards, so that it can be used in high temperature environment, and does not have combustion, explosion and other hidden dangers.

In some aspects, methods are provided for controlling a powered lower limb device. A stance phase control method is disclosed in which the required joint torque is determined based on the difference between two joint angles, such as the knee joint and the ankle joint. A swing control method is also disclosed that employs feedback-based minimum jerk trajectory control. In other embodiments, a joint assembly for use in modular lower limb device is provided. The joint assembly includes a reconfigurable slider-crank mechanism that is configurable to provide a plurality of different ranges of rotational travel, rotational speeds, and torques, for customization according to different anatomical joints. The joint assembly may include a compact coupling device for coupling a ball screw of the slider-crank mechanism to an output shaft of a motor. When employed to form a modular orthosis, the joint assembly may be adapted for self-alignment as its length adjustment method during setup.

A prosthetic knee mechanism that improves stability and flexion of an individual during use. The prosthetic knee mechanism has a braking mechanism to increase stance phase stability in a polycentric knee. The combination of the braking mechanism with a polycentric knee increase stance stability and reduces frictional forces on the prosthetic knee components. The prosthetic knee mechanism uses a cam mechanism to control the flexion and extension of the knee. The cam mechanism also controls the speed at which the foot and shank swing. The prosthetic knee uses a collapsible posterior linkage which allows the knee to go into a small degree of flexion at heel strike while maintaining overall knee stability.

Running in a mammal, such as a human, is augmented by adaptively modulating anticipation of maximum leg extension of a mammal when running, and actuating an exoskeletal clutch linked in series to at least one elastic element, wherein the clutch and elastic element form an exoskeleton and are attached in parallel to at least one muscle-tendon unit of a leg of the mammal and span at least one joint of the mammal fitted with the exoskeleton. The exoskeletal clutch is actuated in advance of a predicted maximum extension of the exoskeletal clutch to thereby cause the exoskeletal clutch to lock essentially simultaneously with ground strike by the leg of the mammal. The elastic element is thereby engaged during stance phase of the gait of the mammal while running, and subsequently is disengaged prior to or during the swing phase of the gait of the mammal, thereby augmenting running of the mammal.

Disclosed herein is a gait monitoring apparatus and method. The gate monitoring apparatus includes a preprocessing unit for receiving data from a gait detection sensor and preprocessing the data. A swing detection unit detects, based on the data output from the preprocessing unit, whether a current gait phase is a swing phase in which a foot of a pedestrian is lifted from ground and swings in air when the foot moves forwards. A stance detection unit detects, based on the output data, whether a current gait phase is a stance phase in which the foot is in contact with the ground. A heel-strike detection unit detects, based on the output data, whether a current gait phase is a heel-strike phase in which the heel of the pedestrian strikes ground. A control unit determines the current gait phase, analyzes the gait of the pedestrian, and outputs gait analysis information.

A resilient lower extremity prosthesis comprising a foot, an ankle and a shank above the ankle is provided with an artificial muscle (190) on the shank (191) of the prosthesis for storing energy during force loading of the prosthesis in the active propulsion phase of a person's gait and in the later stages of stance-phase of gait releasing the stored energy to aid propulsion of the person's trailing limb and body.

The present invention pertains to a femoral knee-ankle prosthesis intended for persons who are lower-limb amputees but still have a segment suitable for a femoral connection and a tibial connection connected to the femoral segment based on an articulation which reproduces the movements of the knee, the said tibial segment being articulated on one foot based on an articulation reproducing the movements of the ankle, an initial damper the ends of which are joined respectively with the femoral and tibial segments, and another hydraulic damper of which the ends are joined respectively with the tibial and foot segment; the said prosthesis is remarkable in that the chamber of the first hydraulic damper is connected to the chamber of the second hydraulic damper and in that it consists of the means of controlling the first and / or second hydraulic damper depending on the phase of the walking cycle such as the stance phase or the swing phase and / or real-life situations such as stairs, slopes or standing, etc., in such a manner that the flexion of the knee allows the dorsiflexion of the ankle in proportion to the movement of the knee during the stance phase and such that the flexion of the knee results in the dorsiflexion of the ankle during the swing phase.

A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.

A shoe is provided including a sole, an upper with a transverse aperture, and a cover piece, wherein the cover piece covers the transverse aperture and is affixed to the shoe at medial and lateral ends of the cover piece, and wherein the transverse aperture compresses without compression of the cover piece when the sole bends along a hinged metatarsophalangeal portion when transitioning from a stance phase to a swing phase.

A prosthetic knee joint including stance-phase control means comprising lock or latch for holding the knee in a straight condition, and means determining the status of the latch, said status determining means defining a control axis located so that the lock or latch is activated when a load imposed on the joint passes through a line posterior to said axis, and is de-activated when the load passes through a line anterior to said axis.

A above knee prosthesis (P) applied to femoral connection (100) of an amputee that comprises a upper hinge (1) connected to femoral connection of the patient, an articulation axis (2) with the function of reproducing the knee movements, a tibia-calf muscle unit (3) pivotally connected to the femoral•segment and a damper (5) that reproduces some functions of the calf muscle and ensures to the prosthesis to brake and to allow the sequential swing and stance phases typical of the gait. The damper comprises a cylinder (5c) wherein a piston (10) and a stem (9) act connected to each other and adapted to carry out a damping reaction of said damper responsive to the forces loaded on the prosthesis. In particular, a force transducer is provided in the damper arranged, in particular, in the stem with a microprocessor that receives a force signal from the transducer and operates means for adjusting the reaction of the damper responsive to the detected force signal.

A knee-ankle-foot orthosis in accordance with the present invention can smoothly shift from the stance phase to the swing phase thereof. Namely, the knee-ankle-foot orthosis capable of securely locking a patient's knee in a desired angular position thereof with a load of his body weight, and immediately shifting his knee to the unlocked state without requiring any extra motion when the load disappears is provided.As shown in FIG. 1, the speed of the rotation of a knee axis gear 23 adapted to transmit the rotation of a knee axis 21 is increased by eight times with a speed increasing gear train 25, and is transmitted to a brake drum 41. A wire 31 wound around the brake drum 41 is connected to first and second levers 27 and 28 as load detecting members. When a foot holding portion 18 contacts the ground and the first lever 27 is stepped down, the wire 31 is pulled downwardly with a load of his body weight, whereby brakes are applied. The brake torque is increased by eight times, and is transmitted to the knee axis 21. Consequently, even with a small force due to the load of his body weight, the knee-ankle-foot orthosis can be securely locked with a braking method to prevent giving way thereof. In addition, since the braking method is used, shifting to the unlocked state can be smoothly achieved.