TERRAIN ADAPTIVE POWERED JOINT ORTHOSIS

• Main Authors: Han, Zhixiu, Weber, Jeff Anthony, Barnhart, Christopher Eric, Herr, Hugh M, Williams, Christopher, Casler, JR., Richard James
• Format: Patent
• Language: English
• Published: 08.12.2022
• Subjects: ARTIFICIAL RESPIRATION; BANDAGES, DRESSINGS OR ABSORBENT PADS; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF,TUBULAR STRUCTURES OF THE BODY, E.G. STENTS; FILTERS IMPLANTABLE INTO BLOOD VESSELS; FIRST-AID KITS; FOMENTATION; HUMAN NECESSITIES; HYGIENE; MASSAGE; MEDICAL OR VETERINARY SCIENCE; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY; PROSTHESES; TREATMENT OR PROTECTION OF EYES OR EARS

A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance, according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.