Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.

An exoskeleton worn by a human user consists of a rigid pelvic harness, worn about the waist of the user, and exoskeleton leg structures, each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee, and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and the human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arrests the movement of the knee joint at controllable times during the walking cycle and a spring located at the ankle and foot member stores and releases energy during walking.

A method for controlling the standing-phase damping of an artificial knee joint comprising an upper part and a lower part which are secured together in a pivotal manner about a pivot axis, a resistance unit which is arranged between the upper part and the lower part and has an adjustment device via which the damping resistance can be modified, and a control unit which is coupled to the adjustment device and which is connected to at least one sensor. The adjustment is carried out on the basis of sensor data, and the knee angle is detected by the at least one sensor during the standing-phase inflexion up to the terminal standing phase. The flexion damping is increased to a level above an initial flexion damping in order to prevent a further inflexion upon reaching a specified maximum knee angle.

Disclosed herein are embodiments of a powered prosthesis. In one embodiment, the powered prosthesis may include a first joint actuator; a second joint actuator; a connector to connect the first joint actuator with the second joint actuator; and a power source connected with both the first and second joint actuator; wherein the first joint actuator and the second joint actuator are both at least backdrivable and configured such that when one of the first or second joint actuator is drawing power from the power source, the other of the first or second joint actuator may be generating power for the power source. In some embodiments, the first motor is at least a high output torque motor. In other embodiments, the second motor is at least a high output torque motor.

An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.

A multi-articulated link knee joint includes: a knee unit in which an upper link unit rotates relative to a lower link unit by a multi-articulated link mechanism including a plurality of link units including the upper link unit and the lower link unit; a relative position detector for detecting a relative position of the upper link unit relative to the lower link unit; and an angle detector for obtaining a bending angle of the knee unit from the detected relative position.

A prosthetic arm apparatus comprising a plurality of segments that provide a user of the prosthetic arm apparatus with substantially the same movement capability and function as a human arm. The segments are connectable to one another and connectable to a harness mount that may be adorned by the user. Each segment of the plurality of segments provides a portion of the movement capability, enabling the plurality of connected segments connected to the harness mount to provide substantially the same movement capability as that lacking in the user.

An autonomous wearable leg device employs an array of sensors embedded along a support area, whereby a controller can generate a controlling command and send a controlling command to a prosthetic, orthotic, exoskeletal or wearable component to thereby control the prosthetic, orthotic, exoskeletal or wearable component. A method for controlling autonomous wearable device collects kinetic signals from an array of sensors embedded in a prosthetic, orthotic or exoskeletal component, wherein all values are extracted from at least one feature of the collected kinetic signals, which are applied to a controller that generates a controlling command that is sent to the prosthetic, orthotic exoskeletal component to thereby control the prosthetic, orthotic or exoskeletal component during a portion of a gait cycle.

A system for powering a prosthetic arm is disclosed. The system includes at least one internal battery located in the prosthetic arm, at least one external battery connected to the prosthetic arm, and a master controller configured to connect either the at least one internal battery or the at least one external battery to a power bus to power the prosthetic arm.

Systems and methods for controlling a passive prosthetic knee joint with adjustable damping in the direction of flexion such that a prosthetic unit attached to the knee joint can be adapted for climbing stairs.