An exoskeleton configured to be coupled to a user includes a plurality of interconnected support elements constituted by rigid compression members interconnected through a tensegrity joint. The joint includes a tensile member having a first end and a second end coupled to first and second ones of the support elements respectively.

Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

A walking assistance apparatus includes stimulus applying means for applying a stimulus to a leg part on which a walking assistance apparatus is mounted and state detection means for detecting a supporting leg condition and a lifted leg condition of the leg part on which the walking assistance apparatus is mounted. The stimulus applying means applies a first stimulus to the leg part when the state detection means has detected that the leg part on which the walking assistance apparatus is mounted is in the lifted leg condition, and the stimulus applying means does not apply a stimulus to the leg part or applies a second stimulus that is weaker than the first stimulus when the state detection means has detected that the leg part on which the walking assistance apparatus is mounted is in the supporting leg condition.

A walking assistance apparatus includes stimulus applying means for applying a stimulus to a leg part on which a walking assistance apparatus is mounted and state detection means for detecting a supporting leg condition and a lifted leg condition of the leg part on which the walking assistance apparatus is mounted. The stimulus applying means applies a first stimulus to the leg part when the state detection means has detected that the leg part on which the walking assistance apparatus is mounted is in the lifted leg condition, and the stimulus applying means does not apply a stimulus to the leg part or applies a second stimulus that is weaker than the first stimulus when the state detection means has detected that the leg part on which the walking assistance apparatus is mounted is in the supporting leg condition.

In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.

A prosthetic system includes first and second parts rotatable relative to one another about a joint. The first and second parts are adapted to form at least part of a weight bearing connection between a prosthetic foot and a socket. A pump system includes a pump mechanism operatively connected to the first and second parts. Rotation of the first part and/or the second part about the joint moves the pump mechanism between an original configuration in which the volume of a fluid chamber defined by the pump mechanism is zero or near-zero, and an expanded configuration in which the volume of the fluid chamber is increased.

A prosthetic system includes first and second parts rotatable relative to one another about a joint. The first and second parts are adapted to form at least part of a weight bearing connection between a prosthetic foot and a socket. A pump system includes a pump mechanism operatively connected to the first and second parts. Rotation of the first part and/or the second part about the joint moves the pump mechanism between an original configuration in which the volume of a fluid chamber defined by the pump mechanism is zero or near-zero, and an expanded configuration in which the volume of the fluid chamber is increased.

The invention relates to a method for controlling an artificial knee joint which includes an upper part having an anterior side and a posterior side; a lower part mounted on the upper part so as to be pivotable about a knee axis and having an anterior side and a posterior side; a foot part arranged on the lower part; at least one sensor; a control device connected to the at least one sensor; and an actuator which is coupled to the control device and by means of which an achievable knee angle (KAmax) between the posterior side of the upper part and the posterior side of the lower part in the swing phase can be set by the control device.