A wrist device for a prosthetic limb is provided. The device (1) comprises a base member (3) connectable to the wearer of the device, and a support member (13) connectable to the limb. The support member (13) is pivotably connected to the base member (3) such that the support member can pivot about a pivot axis (A) relative to the base member. A damping mechanism is located between the base (3) member and the support member (5). The damping mechanism comprises a pinion (47) connected to the support member (5) and rotatable about the pivot axis (A) relative to the base member (3). A rack (35) is engaged with the pinion (47) such that rotational motion of the pinion causes a linear motion of the rack, and at least one biasing member (41) extends between the base member (3) and the rack. The biasing member (41) biases the rack (35) and support member (13) into a neutral position. A prosthetic limb incorporating the wrist device is also provided.

A system and method for a prosthetic assembly that includes a first prosthetic component, comprising a prosthetic hand base; a set of second prosthetic components, comprising a set of prosthetic fingers, and a set of actuating systems, wherein one actuating system connects a pair of distinct prosthetic components, enabling actuation of one prosthetic component with respect to the other. Each actuating system, from the set of actuating systems, includes a linkage and a sensored brushless motor; wherein the sensored brushless motor comprises a brushless motor, a field oriented control system, a rotary encoder, and a gearbox.

A prosthesis or orthosis for a joint, such as an ankle, which includes a first body, a second body, and an articulated joint between the first and second bodies, the articulated joint allowing the rotation of the first and second bodies with respect to one another around a joint rotation axis. It further includes a locking mechanism configured to selectively lock the rotation between the first and second bodies in one direction, when it is in a locked configuration, and a transmission mechanism such that a rotation of the joint rotation axis generates a movement of a lockable part of the locking mechanism. The axis of the movement of the lockable part is shifted relative to the joint rotation axis and the transmission mechanism includes a reducer configured to reduce effort to lock the rotation of the first body with respect to the second body.

Low-cost prosthetic apparatus, methods, kits, and systems with improved force transfer elements are disclosed. For example, the prosthetic apparatus may comprise: a plurality of first components manufactured from a first material to define 3D shapes with exterior surfaces resembling digits of a human hand; and a plurality of second components manufactured from a second material to define 2D shapes that are rotatably engageable with the 3D shapes to define force transfer elements operable to close the digits around an object responsive to a pull force applied to the force transfer elements, wherein the first material is different from the second material. Methods for manufacturing and assembling prosthetic apparatus also are disclosed along with related kits and systems.

A system and method for a compliant four-bar linkage mechanism for a robotic finger that includes: a monolithic bone structure comprised of a compliant joint region and an input link segment and a coupler link segment, wherein the input link segment and the coupler link segment are connected through the compliant joint; an output link; a ground structure; wherein the monolithic bone structure, output link, and ground structure are connected through a set of joints in a configuration of a compliant four-bar linkage mechanism which comprises: the output link on a first end and the coupler link segment connected through an output joint, the output link on a second end connected to a ground joint on the ground structure, and the monolithic bone structure connected to an input joint connected to the ground structure; and an actuation input coupled to the input joint.

Disclosed herein are embodiments of a powered prosthesis. In one embodiment, the powered prosthesis may include a first joint actuator; a second joint actuator; a connector to connect the first joint actuator with the second joint actuator; and a power source connected with both the first and second joint actuator; wherein the first joint actuator and the second joint actuator are both at least backdrivable and configured such that when one of the first or second joint actuator is drawing power from the power source, the other of the first or second joint actuator may be generating power for the power source. In some embodiments, the first motor is at least a high output torque motor. In other embodiments, the second motor is at least a high output torque motor.

A wrist device for a prosthetic limb is provided. The device (1) comprises a base member (3) connectable to the wearer of the device, and a support member (13) connectable to the limb. The support member (13) is pivotably connected to the base member (3) such that the support member can pivot about a pivot axis (A) relative to the base member. A damping mechanism is located between the base (3) member and the support member (5). The damping mechanism comprises a pinion (47) connected to the support member (5) and rotatable about the pivot axis (A) relative to the base member (3). A rack (35) is engaged with the pinion (47) such that rotational motion of the pinion causes a linear motion of the rack, and at least one biasing member (41) extends between the base member (3) and the rack. The biasing member (41) biases the rack (35) and support member (13) into a neutral position. A prosthetic limb incorporating the wrist device is also provided.

Driving modules, motion assistance apparatuses including at least one of the driving modules, and methods of controlling at least one of the motion assistance apparatus may be provided. For example, a driving module including a driving source on one side of a user and configured to transmit power, an input side rotary body connected to the driving source and configured to rotate, and a first decelerator and a second decelerator configured to operate using the power received from the driving source through the input side rotary body, wherein a gear ratio from the input side rotary body to an output terminal of the first decelerator differs from a gear ratio from the input side rotary body to an output terminal of the second decelerator, may be provided.

A prosthetic arm apparatus comprising a plurality of segments that provide a user of the prosthetic arm apparatus with substantially the same movement capability and function as a human arm. The segments are connectable to one another and connectable to a harness mount that may be adorned by the user. Each segment of the plurality of segments provides a portion of the movement capability, enabling the plurality of connected segments connected to the harness mount to provide substantially the same movement capability as that lacking in the user.

An actuator for a prosthetic digit is provided. The actuator comprises a driven, mobile tendon tensioner to which a tendon can be attached. The tensioner being movable along a shaft in either direction so as to place tension on the tendon or to relax the tendon.