A user-specific model of muscular activity can be used to control an external device based on muscular activity within a limb of a user. The user-specific model of muscular activity can include single movements and corresponding one or more primary muscle patterns. New single movements can be added to the user-specific model of muscular activity can be by a system that includes a processor by receiving user-specific EMG signals (including one or more EMG patterns that indicate a single movement); decomposing the user-specific EMG signals into the one or more EMG patterns in EMG feature space that indicate the single movement; and updating the user-specific model of muscular activity to include the single movement and corresponding one or more primary muscle patterns based on the one or more EMG patterns in EMG feature space.

A prosthetic foot can include an attachment member, at least one first brace, at least one first flexible member, an unpowered actuator, at least one second brace, and at least one second flexible member. The attachment member can include a connector configured to connect the attachment member to a user or another prosthetic device. The at least one first brace can mount to the attachment member and the at least one first flexible member can connect to the attachment member by the at least one first brace such that a force between the ground and the attachment member can be supported by the at least one first flexible member. The unpowered actuator can mount to the attachment member and the at least one second brace can mounted to the actuator. The at least one second flexible member can connect to the attachment member by the at least one second brace such that a force between the ground and the attachment member can be supported by the at least one second flexible member.

A prosthetic foot can include an attachment member, at least one first brace, at least one first flexible member, an unpowered actuator, at least one second brace, and at least one second flexible member. The attachment member can include a connector configured to connect the attachment member to a user or another prosthetic device. The at least one first brace can mount to the attachment member and the at least one first flexible member can connect to the attachment member by the at least one first brace such that a force between the ground and the attachment member can be supported by the at least one first flexible member. The unpowered actuator can mount to the attachment member and the at least one second brace can mounted to the actuator. The at least one second flexible member can connect to the attachment member by the at least one second brace such that a force between the ground and the attachment member can be supported by the at least one second flexible member.

Systems and methods for tuning a powered prosthesis are described herein. A system includes a powered prosthesis including a joint, a motor mechanically coupled to the joint, a plurality of sensors, a finite state machine, and an impedance controller. The sensors are configured to measure a plurality of gait parameters, and the finite state machine is configured to determine a gait cycle state. The impedance controller is configured to output a control signal for adjusting a torque of the motor, where the torque is adjusted as a function of the measured gait parameters and a plurality of impedance control parameters, and where the impedance control parameters are dependent on the gait cycle state. The system also includes a reinforcement learning controller operably connected to the powered prosthesis. The reinforcement learning controller is configured to tune the impedance control parameters to achieve a target gait characteristic using a training data set.

Methods, systems and devices that provide a therapeutic solution to alleviate the pain and discomfort of phantom limb syndrome are disclosed. The methods and systems of the present invention generally comprise capturing data from recording devices operably coupled to a processor and/or computing device, the recording devices configured to capture data associated with intact portions of a missing limb, one or more intact limbs and/or portions of the environment surrounding the missing limb, identifying the data captured, generating a three-dimensional virtual image of the missing limb and the surrounding environment from the data captured, and displaying the three-dimensional virtual image and the portions of the surrounding environment to the amputee such that the missing limb appears intact. The present invention advantageously provides a therapeutic and more immediate solution to alleviate the pain and discomfort from phantom limb syndrome.

Methods, systems and devices that provide a therapeutic solution to alleviate the pain and discomfort of phantom limb syndrome are disclosed. The methods and systems of the present invention generally comprise capturing data from recording devices operably coupled to a processor and/or computing device, the recording devices configured to capture data associated with intact portions of a missing limb, one or more intact limbs and/or portions of the environment surrounding the missing limb, identifying the data captured, generating a three-dimensional virtual image of the missing limb and the surrounding environment from the data captured, and displaying the three-dimensional virtual image and the portions of the surrounding environment to the amputee such that the missing limb appears intact. The present invention advantageously provides a therapeutic and more immediate solution to alleviate the pain and discomfort from phantom limb syndrome.

A gait disorder support apparatus and gait disorder support method capable of detecting an onset sign of a gait disorder associated with motor symptoms in advance and performing motion assist are proposed. The onset sign of the gait disorder associated with the motor symptoms of a wearer is detected based on the correlation between a gait cycle and a reduction ratio of the gait cycle as compared to immediately preceding gait; and when the onset sign of the gait disorder is detected, a drive unit is controlled so that the drive unit applies assist power to a knee joint of the wearer; and on the other hand, when the onset sign of the gait disorder is not detected, the drive unit is controlled so that driving torque by the drive unit does not hinder the wearer's gait motion.

A gait disorder support apparatus and gait disorder support method capable of detecting an onset sign of a gait disorder associated with motor symptoms in advance and performing motion assist are proposed. The onset sign of the gait disorder associated with the motor symptoms of a wearer is detected based on the correlation between a gait cycle and a reduction ratio of the gait cycle as compared to immediately preceding gait; and when the onset sign of the gait disorder is detected, a drive unit is controlled so that the drive unit applies assist power to a knee joint of the wearer; and on the other hand, when the onset sign of the gait disorder is not detected, the drive unit is controlled so that driving torque by the drive unit does not hinder the wearer's gait motion.

Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.

Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.