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 device includes an elongate support member of carbon filament material having a first surface, and an adapter. The adapter includes a compressible member, a base portion having a contact surface arranged to contact the first surface of the support member, a cavity sized to receive the compressible member, and a connector portion extending from the base portion and configured to releasably secure the prosthetic foot to a prosthesis, wherein application of a force to the connector portion compresses the compressible member to dampen movement of the base portion relative to the support member until the contact surface contacts the first surface.

A prosthetic or orthotic device includes a body configured to support at least a portion of a human limb of a user wearing the prosthetic or orthotic device. The device can also include a shock absorption member coupled to the body. The shock absorption member includes one or more magnetorheological elastomer (MRE) springs disposed between a first portion of the body and a second portion of the body. The one or more MRE springs are selectively actuatable to vary a stiffness of the shock absorption member via the application of a magnetic flux, thereby adjusting a stiffness of the body of the prosthetic or orthotic device to a level corresponding to an activity level of the user.

A method and apparatus for enhancing the operation of leg prothesis is provided. The apparatus includes a cable configured to be attached to the leg prosthesis worn by a subject to move through a plurality of gait phases. The apparatus also includes a module configured to be mounted to the leg prosthesis. The module includes a tension spring configured to engage the cable to maintain tension in the cable. The module also includes a locking mechanism configured to lock a position of the tension spring and maintain a length of the cable defined between the module and the leg prosthesis during at least one first gait phase of the plurality of gait phases. The locking mechanism is further configured to unlock the position of the tension spring to permit variation of the length of the cable during at least one second gait phase of the plurality of gait phases.

A lower limb prosthesis system and a method of controlling the prosthesis system to replace a missing lower extremity of an individual and perform a gait cycle are disclosed. The prosthesis system has a controller, one or more sensors, a prosthetic foot, and a movable ankle joint member coupled to the prosthetic foot. The movable ankle joint member comprises a hydraulic damping system that provides the ankle joint member damping resistance. The controller varies the damping resistance by providing volumetric flow control to the hydraulic damping system based on sensor data. In one embodiment, the hydraulic damping system comprises a hydraulic piston cylinder assembly, hydraulic fluid, and a valve to regulate the fluid. In one embodiment, the controller alters the damping resistance by modulating the valve to vary the hydraulic fluid flow within the hydraulic piston cylinder assembly of the movable ankle joint member based on sensor data.

A lower limb prosthesis comprises a foot component and an ankle unit pivotally mounted to the foot component. The ankle unit comprises an ankle joint mechanism comprising a hydraulic piston and cylinder assembly for providing hydraulic damping whenever the ankle joint flexes, and a vacuum mechanism comprising a pneumatic piston and cylinder assembly for generating a vacuum. The hydraulic and pneumatic piston and cylinder assemblies are arranged such that the vacuum mechanism generates a vacuum during plantar-flexion of the ankle unit.

A prosthetic ankle includes a pair of prosthetic members movably coupled together to allow movement of the pair of prosthetic members with respect to one another. A hydraulic actuator or damper including hydraulic fluid in a hydraulic chamber is coupled to one of the pair of prosthetic members. A hydraulic piston is movably disposed in the hydraulic chamber and coupled to another of the pair of prosthetic members. A hydraulic flow channel is fluidly coupled between opposite sides of the chamber to allow hydraulic fluid to move between the opposite sides of the chamber as the hydraulic piston moves therein. A voice coil valve is coupled to the hydraulic flow channel to vary resistance to flow of hydraulic fluid through the flow channel, and thus movement of the piston in the chamber, and thus influencing a rate of movement of the pair of prosthetic members with respect to one another.

A buffer mechanism of an artificial limb is provided, including a joint connecting base, an artificial limb connecting base, a first connecting rod connected to a front side of the joint connecting base, a second connecting rod connected to a rear side of the artificial limb connecting base, and a buffer cylinder disposed between the first connecting rod and the second connecting rod and having a sleeve, a cylinder plug and a spring. The cylinder plug is detachably disposed at one end of the sleeve, the side surface of the first connecting rod facing the second connecting rod is disposed with a roller arm, an end of the roller arm is pivotally connected with a roller, and the roller arm contacts the end face of the cylinder plug by the roller. The present disclosure can reduce the wear rate of the cylinder plug and decrease the friction force.

A system and method for transmission of a signal for a powered assistive device has a sensor node with a wireless transmitter adapted for digitally transmitting a transmitted signal, the sensor node adapted for receiving and monitoring a sensor signal from a sensor attached to a user, and a master node with a controller and a wireless receiver for receiving the transmitted signal from the wireless transmitter. The master node processes the transmitted signal and communicates a control signal to the powered assistive device. The wireless transmitter transmits the transmitted signal at a first rate when the wireless transmitter adapted to transmit the transmitted signal at a first rate when the sensor signal is indicative of the rest state and to transmit the transmitted signal at a second rate when the sensor signal is indicative of the active state, the second rate being greater than the first rate.

An ankle-foot prosthesis includes a foot plate, an ankle frame attached to the foot plate, a yoke pivotally connected to the ankle frame and including a member for attaching to a leg, a damper having a first end connected to the yoke and a second end connected to the ankle frame, and a control mechanism for switching the damper between low and high settings.