A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.

A prosthetic foot insert with upper attachment member, a roof spring extending forwards from the upper attachment means, and a base spring coupled to the roof spring at least two points. A rear coupling element is provided for supporting the base spring, and a free space is formed between the coupling element, the roof spring and the base spring. The base spring, in the heel area, protrudes rearwards as a free lever beyond the rear coupling element.

To propose a novel and improved actuator and artificial leg capable of miniaturizing an apparatus.

An actuator (320) includes: a leaf spring (322) whose one end (322a) is cantilevered, the leaf spring being capable of deflection deformation in a plate thickness direction in accordance with torque by transmitting the torque; and a support member (324) configured to support a part of the leaf spring on a deflection direction side in a case where the torque transmitted by the leaf spring is greater than a predetermined value.

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 prosthetic appendage for attachment to an outer extremity of an amputated limb that is composed of modular elements fabricated by three-dimensional printing. In one embodiment the prosthetic appendage is a leg. The prosthetic leg includes a foot portion and a plurality of modular and three-dimensionally printed limb elements. One of the plurality of limb elements is pivotally coupled to the foot portion and another of the limb elements is configured at one end to receive the outer extremity of the amputated leg. In another embodiment of the present invention the prosthetic appendage is a hand. The prosthetic hand includes a wrist element with one end configured to receive the outer extremity of an amputated hand, a base portion attached to the wrist element and a plurality of modular and three-dimensionally printed finger elements selectively coupled to adjacent finger elements or the base to form prosthetic fingers.

An artificial knee is configured to be worn by a person. Artificial knees include a thigh link configured to move in unison with a thigh of the person, and a shank link configured to be coupled to the thigh link. Artificial knees include a compression spring coupled to the thigh link at a first end of the compression spring, the compression spring configured to be coupled to the shank link at a second end of the compression spring. The compression spring is configured to provide an extension torque between the thigh link and the shank link during a first range of motion of the thigh link and the shank link relative to each other. The compression spring is configured to provide a flexion torque between the thigh link and the shank link during a second range of motion of the thigh link and the shank link relative to each other.

In a sole which is attached to a ground contact region of an athletic prosthetic leg which has a leaf-spring-like leg portion extending to a side of a toe via at least one curved portion, the ground contact region extending from the toe to a side of the curved portion in an arc, the sole includes a bottom surface having a shape conforming to an extending shape of the ground contact region, and, in the bottom surface, a region at the side of the curved portion, which is defined by a border as a line extending in a width direction of the leg portion through a contact point with a road surface in a standing state of a wearer who wears the athletic prosthetic leg, has a higher drainage performance compared with a region other than the region at the side of the curved portion.

The present application describes apparatus for supporting a mechanical hand, comprising a support member (200) pivotally coupled at a hinge axis (604) to a mounting member (700); and at least one leaf spring (707) configured to resist movement of the support member about the hinge axis. Apparatus for supporting a mechanical hand, comprising a lock arrangement (750) to lock the support member with respect to the mounting member in a rotational position about the hinge axis is also described.

Implementations of a quasi-passive assistive device are disclosed. Such a device may comprise a spring mechanism that increases stiffness similar to a biological ankle. In one implementation, the spring mechanism may comprise a piston, valve, springs, or other elements to match a biological stiffness profile similar to that of a biological ankle. In one implementation, an apparatus for an artificial ankle is disclosed, comprising a piston coupled to a spring and the piston connected to a valve. The spring and the piston may store energy during dorsiflexion of the ankle and the spring and the piston release energy during plantarflexion of the ankle. The piston may store and release energy through the use of the valve.

A prosthetic ankle has an ankle joint body (10A) constituting a shin component and a foot component (12). The ankle joint body (10A) is pivotally connected to the foot component (12) by a first pivotal connection (14) defining a medial-lateral ankle joint flexion axis. The ankle joint body (10A) also forms the cylinder of an ankle joint piston and cylinder assembly with a superior-inferior central axis, the cylinder housing a piston (16) with upper and lower piston rods (16A, 16B). The lower piston rod (16B) is pivotally connected to the foot component (12) at a second pivotal connection (18). As the ankle joint body (10A) pivots about the ankle joint flexion axis, the piston (16) moves substantially linearly in the cylinder formed by the ankle joint body. The cylinder is divided into upper and lower chambers (20A, 20B). These chambers are linked by an hydraulic circuit (22) incorporating passages (22A, 22B) in the ankle joint body (10A), and an energy conversion device in the form of a slave piston and cylinder assembly (24) having a piston (24P) and piston rods (24R) which project beyond the cylinder (24C) of the assembly (24).