A robotic joint comprises a first link, a middle link, a torque generator, a second link, and a locking mechanism. Different ends of the middle link are rotatably coupled to the first link and the second link. The torque generator is coupled to the first link and the middle link and is configured to produce a torque between these links. The locking mechanism is switchable between a locking state and an unlocking state. In the unlocking state, the locking mechanism allows free rotation of the second link relative to the middle link in the first and second rotation directions. In the locking state, the locking mechanism is configured to impede rotation of the second link relative to the middle link in the first rotation direction and to allow rotation of the second link relative to the middle link in the second rotation direction opposite of the first rotation direction.

A prosthetic or orthotic device has an elongate frame that houses electronics and an actuator rotatably mounted to the frame. The actuator can rotate in an anterior-posterior direction about a medial-lateral axis and includes magnetorheological (MR) fluid and a coil operable to selectively apply a magnetic field to the MR fluid to vary its viscosity and thereby vary a torsional resistance of the actuator about the medial-lateral axis. The device contains a layered control system that makes use of data collected by the embedded sensors in a prosthetic device for intent recognition, management, and actuator control. The layered control system uses a Luenberger observer for estimating joint velocity and a heuristic torque-setpoint component to control the function of a MR actuated knee prosthesis.

A prosthetic or orthotic device has an elongate frame that houses electronics and an actuator rotatably mounted to the frame. The actuator can rotate in an anterior-posterior direction about a medial-lateral axis and includes magnetorheological (MR) fluid and a coil operable to selectively apply a magnetic field to the MR fluid to vary its viscosity and thereby vary a torsional resistance of the actuator about the medial-lateral axis. The device contains a layered control system that makes use of data collected by the embedded sensors in a prosthetic device for intent recognition, management, and actuator control. The layered control system uses a Luenberger observer for estimating joint velocity and a heuristic torque-setpoint component to control the function of a MR actuated knee prosthesis.

An electronic device may provide a user with at least one of target motion information of a wearable device according to a target period or basic torque information mapped to the target motion information and output by the wearable device, receive an input for modifying at least a portion of the basic torque information from the user, generate modified torque information based on the basic torque information and the input, and generate a motion control model for controlling the wearable device based on the target motion information and the modified torque information.

An electronic device may provide a user with at least one of target motion information of a wearable device according to a target period or basic torque information mapped to the target motion information and output by the wearable device, receive an input for modifying at least a portion of the basic torque information from the user, generate modified torque information based on the basic torque information and the input, and generate a motion control model for controlling the wearable device based on the target motion information and the modified torque information.

Provided is a method of controlling a wearable robot, the method including: measuring a ground reaction force (GRF) exerted on a wearer's soles; calculating a time variation rate of the measured GRF; measuring the wearer's knee joint angle; and detecting a time point at which the calculated time variation rate of the GRF and the measured knee joint angle cross each other.

A system and method for operating a prosthesis is provided. The system includes a socket configured to engage a residual limb of a subject and a shaft having a first end connected to the socket and an opposing second end. The system also includes a foot piece connected to the second end of the shaft. The foot piece includes an ankle plate and a sole piece configured to contact a surface. The system also includes at least one computer configured to detect a state of the foot piece and to transmit an indication of the state of the foot. The system further includes a motor assembly configured to receive the indication of the state of the foot and to control a position and impedance of the ankle plate based on the state of the foot.

An orthopedic knee joint having an upper part with upper connecting features, a lower part which is mounted pivotably on the upper part and has connecting features for prosthetic components, and a stop for limiting an extension movement. The stop is coupled to an adjusting device, which is coupled to a control device that actuates the adjusting device as a function of sensor data and changes the position of the stop. If the knee joint is provided with an adjustable extension stop position, the extension stop can be shifted forward for walking which results in a greater inclination at heel strike in order to flex the knee joint and, therefore, increased damping upon initiation of the stance phase. For standing, the adjusting device can be activated so that the extension stop is reversed, such that a statically more secure orthosis or prosthesis set-up can be obtained.

An orthopedic knee joint having an upper part with upper connecting features, a lower part which is mounted pivotably on the upper part and has connecting features for prosthetic components, and a stop for limiting an extension movement. The stop is coupled to an adjusting device, which is coupled to a control device that actuates the adjusting device as a function of sensor data and changes the position of the stop. If the knee joint is provided with an adjustable extension stop position, the extension stop can be shifted forward for walking which results in a greater inclination at heel strike in order to flex the knee joint and, therefore, increased damping upon initiation of the stance phase. For standing, the adjusting device can be activated so that the extension stop is reversed, such that a statically more secure orthosis or prosthesis set-up can be obtained.

A device and method for measuring prosthetic or orthotic slip is presented. An optical sensor device is attached to the prosthesis or orthosis and measures the amount of relative motion between the prosthetic socket and the residual limb surface or between the orthosis and the affected body part. The sensor device is comprised of an optical sensor, a light source, a processing unit and a power source contained within a housing. A system for measuring multidirectional prosthetic or orthotic slip using the sensor device and automatically adjusting the fit of the prosthetic based on a determined threshold is also presented.