A disarticulated compression socket configured to secure a residual limb. The disarticulated compression socket may include a rigid socket frame having one or more compression apertures each having one or more disarticulated compression inserts. Each disarticulated compression insert may be coupled with, and responsive to, a compression actuator configured to adjust the disarticulated compression insert individually, or in concert. In one preferred embodiment, at least one compression actuator may be coupled with one, or a plurality of disarticulated compression inserts and further configured to retract and/or expand the coupled disarticulated compression inserts securing the residual limb within said socket frame. Control of the compression actuators may be manual or automatic in response to a signal from a sensor. Additional embodiments may also include one or more lateral release channels configured to accommodate soft tissue expansion of the residual limb as it is compressed and/or secured within the socket frame.

A prosthetic foot assembly is disclosed. The assembly includes a pivoting ankle joint with a hydraulic system, a prosthetic foot connected to the distal side of the ankle joint, and, at the proximal side, the ankle joint includes a transducer with pyramid adaptor for attaching to a pylon. The ankle joint sensor provides data collection during the stance and optionally, the swing, phases of walking using, for example, strain gages and accelerometers. Also disclosed are methods for real-time feature extraction. Key parameters are captured to which are applied linear, fuzzy logic, neural net, or generic algorithms to determine current state (walking flat, uphill, downhill etc.) in real time and execute changes to the angle between the ankle and foot almost instantaneously based on those parameters.

A prosthesis or orthosis housing, including a cylinder configured to receive a piston of a piston and cylinder assembly, a pump section configured to receive part of a pump, and a plurality of passages connecting the cylinder to the pump section, the plurality of passages being smoothly curved along their lengths and devoid of any right-angle bends, wherein the cylinder, the pump section, the plurality of passages, and the prosthesis or orthosis housing form a unitary piece.

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.

The invention relates to a method for controlling an orthopaedic joint device of a lower extremity. The joint device has an upper part (2) and a lower part (3) mounted in a hinged manner on the latter. Arranged between the upper part (2) and the lower part (3) is an energy converter (5) by which, during walking, kinetic energy from the relative movement between the lower part (3) and the upper part (2) is converted or stored and supplied again to the joint in order to support the relative movement, wherein kinetic energy within one movement cycle is converted and/or stored and, within the same movement cycle, is supplied again as kinetic energy to the joint device (1) in a controlled manner and staggered in time.

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.

A system comprises one or more wearable devices including a first body interface adapted to be secured to a first bodily part. A second body interface is adapted to be secured to a second bodily part separated from the first bodily part by a physiological joint. One or more joints provide one or more degrees of freedom between the first body interface and the second body interface. A magnetorheological (MR) fluid actuator unit comprises one or more power sources. An MR fluid clutch apparatus receiving torque from the at least one power source, the at least one MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field. A transmission couples the MR fluid actuator unit to the wearable device for converting torque from the MR fluid actuator unit to relative movement of the body interfaces with respect to one another.

A prosthetic foot assembly is disclosed. The assembly includes a pivoting ankle joint with a hydraulic system, a prosthetic foot connected to the distal side of the ankle joint, and, at the proximal side, the ankle joint includes a transducer with pyramid adaptor for attaching to a pylon. The ankle joint sensor provides data collection during the stance and optionally, the swing, phases of walking using, for example, strain gages and accelerometers. Also disclosed are methods for real-time feature extraction. Key parameters are captured to which are applied linear, fuzzy logic, neural net, or generic algorithms to determine current state (walking flat, uphill, downhill etc.) in real time and execute changes to the angle between the ankle and foot almost instantaneously based on those parameters.

A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.

The artificial muscle actuator device is structured to suit the muscles of the body and has a versatile structure that can be applied as a device responsible for the motion function of a robot, due to a small, electric-power-conserving motive power source that uses balloon inflation and deflation and eliminates fluid pressure loss. In the artificial muscle actuator device, an actuator unit and a first artificial muscle unit are connected by a first linking tube, the actuator unit and a second artificial muscle unit are connected by a second linking tube, the first artificial muscle unit and the second artificial muscle unit are attached to a body site, and the actuator unit is controlled by current conduction, so as to perform flexion and extension movements of a skeleton at the body site.