A prosthetic device control apparatus includes at least one sensor worn by a user. The sensor(s) determines a user's movement. A control module is in communication with the sensor(s). The control module communicates movement information to a prosthetic. A method for controlling a prosthetic device includes sensing a user's movement, communicating the movement through a control module to a prosthetic device; and controlling the movement of a prosthetic device.

A prosthetic joint including a hydraulic system, comprising: at least one chamber; at least one accumulator configured to store hydraulic fluid at a high pressure; at least one reservoir configured to store hydraulic fluid at a low pressure; one or more fluid flow paths connecting the chamber to the accumulator and the reservoir, flow controllers in the fluid flow paths, and fluid distributed throughout the hydraulic system; a load-determining sensor; a displacement-determining sensor; and a microprocessor configured to actuate one or more flow controllers based upon a load determining sensor input, a displacement-determining sensor input, a product of the load-determining sensor input and the displacement-determining sensor input, any time derivative thereof, or any combination thereof, wherein one or more flow controllers are configured to control displacing fluid from the chamber to the accumulator during periods of a threshold negative work, and one or more flow controllers are configured to control displacing fluid from the accumulator to the chamber to perform positive work.

The invention relates to a method for controlling an orthopedic joint of a lower extremity in at least one degree of freedom by means of an adjustable actuator for adjusting an orthopedic apparatus to walking situations that differ from walking on a plane. Said orthopedic apparatus comprises top connecting means to a limb and an orthopedic element that is hingedly arranged distal to the connecting means. The method encompasses the following steps: several parameters of the orthopedic apparatus are sensed by means of sensors; the sensed parameters are compared with criteria that have been established based on several parameters and/or parameter curves and are stored in a computer unit; a criterion is selected that is suitable on the basis of the determined parameters and/or parameter curves; and resistances to movements, extents of movements, driving forces, and/or the progresses thereof are adjusted in accordance with the selected criterion in order to control special functions that differ from walking on a plane.

A prosthetic ankle includes a pair of prosthetic members 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, thereby influencing a rate of movement of the pair of prosthetic members with respect to one another.

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.

An aspect of the present disclosure is a switchable terminal device that includes a first digit having a distal end and a proximal end, a second digit moveably attached to the first digit by a first connector such that the second digit reversibly rotates around the first connector and substantially within a plane, and a body having a first portion and a second portion, the body attached to the second digit at least by the first connector passing through the body at an angle about perpendicular to the plane. The switchable terminal device also includes a lever having a proximal end and a distal end with the proximal end of the lever moveably attached to the first portion of the body by a second connector, a third connector attached near the distal end of the first digit, and an elastic cord that includes a first segment having a first end, and a second segment having a second end. Further, the first end is attached to the first portion of the body, a first part of the first segment contacts the second portion of the body, a second part of the first segment spans a first distance between the body and the third connector, a first part of the second segment spans a second distance between the third connector and the distal end of the lever, and the second end of the elastic cord is attached to the lever.

An apparatus for use in actuating a wearable terminal device includes a housing coupled to a harness system, a control unit, a movable actuating element having its one end in the housing and the other end connected through coupling means to the terminal device, and a conduit which contains the actuating element. The actuating element is a body-powered cable, an artificial tendon coupled to an actuator device installed in the housing, or an actuator wire made of smart material.

An ankle module for a prosthetic foot can have an adapter portion pivotally coupled to a base portion. The base portion can be coupled to the prosthetic foot. The adapter portion can have a coupling member that removably couples the prosthetic foot to a prosthetic pylon or socket. The adapter portion can also have cylinders housing pistons slidably displaceable within the cylinders. An actuator is selectively actuatable to place the cylinders in fluid communication, allowing a fluid to flow between the cylinders as an angular position of the adapter portion is adjusted relative to the base portion, thereby adjusting the dorsi-plantar position between the adapter portion and the base portion of the ankle module. The actuator can be selectively actuatable to fluidly isolate the cylinders from each other so that the angular position of the adapter portion relative to the base portion remains substantially fixed.

The invention relates to an artificial knee joint comprising; an upper part (10) and a lower part (20) which are mounted on one another such that they can pivot about a pivot axis (12); a hydraulic resistance device (30) between the upper part (10) and the lower part (20), which resistance device provides resistance to a pivoting movement, the resistance device (30) having a switching valve (50) in a hydraulic line (37), the switching valve (50) having a valve body which can be displaced in a displacement direction and, in a first position, blocks or partially closes the hydraulic line (37) and, in a second position, releases the hydraulic line (37) and is designed or positioned in such a manner that a pressure force component acting on the valve body (55) perpendicularly to the displacement direction through the hydraulic fluid generates a holding force that counteracts a displacement of the valve body (55), wherein an actuator (60) for exerting a release force is associated with the valve body (55) and moves the valve body (55) from the first to the second position, characterized in that the actuator (60) is coupled to a control device (70) which is connected to a sensor for detecting state data and activates the actuator (60) on the basis of the state data, and the release force is set to be less than the holding force at a predefined pressure force.

Systems and methods for providing torque to an assistive device are disclosed. In an embodiment, an apparatus comprises a material arranged to define a volume of space. The material may comprise a flexible portion and having a first surface and a second surface. The material may have a first position, in which the material is bent along the flexible portion and the first surface contacts the second surface. When the material is in the first position, an increase in pressure to the space creates a force between the first surface and the second surface. The material transitions from the first position to a second position in response to the force between the first surface and the second surface. The apparatus may be attached to an assistive device or other machine, such as an orthosis or prosthesis, in order to provide a torque.