An adjustable counterbalance mechanism for a prosthetic elbow includes a torsional spring disposed in a housing structure coaxially to an axis of rotation of a forearm portion and a cord and pulley arrangement which includes a first pulley, a second pulley and a link member attached to a fixed member structure. The first pulley is attached to a second portion of the spring and connected to the second pulley by a first cord. The second pulley is pivotally attached to the housing structure and connected to the link member by a second cord. The cord and pulley arrangement is configured to transfer a moment of force due to spring force to the forearm portion to counteract the torque of a forearm due to gravity as the angle of the forearm portion changes relative to the upper arm portion.

An adjustable socket system includes a socket frame having a proximal area, a distal area opposite the proximal area, a first component arranged along a first side of the socket system, and a second component arranged along a second side of the socket system. The first component is connected to the second component. A tubular insert is arranged on an interior of at least the proximal area of the socket frame. The tubular insert forms an interior surface of the socket system. At least one tensioning element operatively connects the tubular insert to the first and/or second components. At least one tensioner is attached to the at least one tensioning element that selectively tensions the tensioning element to adjust a circumference of at least one area of the socket system.

An ankle prosthesis can have a base and an upper hinge component that is pivotably attached to the base about an axis. First and second biasing elements can bias the upper hinge component in first and second rotational directions, respectively. At least one selectively extendable and retractable locking element can extend from one of the base and the upper hinge component and engage the other of the base and the upper hinge component to limit the pivotable movement of the upper hinge component.

An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.

A gait state determination apparatus includes: a foot attachment structure disposed in the walking assistance apparatus, the foot attachment structure to be attached to a foot of a user; a pressure detection device, disposed in the foot attachment structure, detecting a pressure exerted on a sole of the user; a pressure center calculation device successively calculating a center position of a pressure exerted on the sole during a gait motion of the user based on the pressure exerted on the sole detected by the pressure detection device; and motion determination device determining that it is a timing of a start of forward swinging of the leg to which the walking assistance apparatus is attached when the center position of the pressure calculated by the pressure center calculation devices is shifted from a position in a heel region of the sole to a toe region thereof, is disclosed.

An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.

A prosthetic knee (10) for a transfemoral amputee has a monocentric rotational joint (20) that rotatably attaches an upper housing (12) attachable to the amputee's residual limb to a lower housing (16) attachable to a below-the knee prosthesis. A locking mechanism (32) disposed in the lower housing (16) has a piston (34) biased in a locked position releasably engaging the upper housing (12) preventing rotation of the rotational joint (20). An unlocking mechanism (32) having a trigger (48) attached to a posterior side of the lower housing (16) by a pair of spaced-apart trigger links (52) is configured to unlock the locking mechanism (32). A piston rod (62) having a first piston-rod end (64) pivotably attached to one of the trigger links (52) has a second piston-rod end (68) pivotably attached to the piston (34). A force applied to the trigger (48) causes the first piston-rod end (64) to pivot counterclockwise driving the piston rod (62) downwardly disengaging the piston (34) from the locked position, allowing rotation of the rotational joint (20).

An artificial joint with a knee axis including a swing-phase control means having a variable friction-based swing-phase controller. The variable friction-based swing-phase controller may apply different resistances at different ranges of motion by altering the torque applied upon the knee axis by altering any combination, or all of the following: the length of a lever arm and a force applied. This may be done to optimize the swing-phase control of the artificial joint to promote natural and smooth walking gait.

A prosthesis having a prosthetic foot with a forefoot area and a heel area, a prosthetic lower leg, and a prosthetic foot adapter for arranging the prosthetic foot on the prosthetic lower leg. The prosthetic foot adapter includes an upper part for fixing it to the prosthetic lower leg such that it is torque-proof in relation to a sagittal plane, a lower part for fixing it to the prosthetic foot such that it is torque-proof in relation to a sagittal plane, and a resistance element. The upper part can be swivelled on the lower part about a swivel axis against a restoring force exerted by the restoring element, the swivel axis extending from the heel area to the forefoot area.

An adjustable socket system includes a socket frame having a proximal area, a distal area opposite the proximal area, a first component arranged along a first side of the socket system, and a second component arranged along a second side of the socket system. The first component is connected to the second component. A tubular insert is arranged on an interior of at least the proximal area of the socket frame. The tubular insert forms an interior surface of the socket system. At least one tensioning element operatively connects the tubular insert to the first and/or second components. At least one tensioner is attached to the at least one tensioning element that selectively tensions the tensioning element to adjust a circumference of at least one area of the socket system.