A device is provided to allow adaptation of a prosthetic or robotic foot in the medial-lateral direction, including pronation and supination of the foot using a series of articulations. Articulations are permitted in the disclosed device due to linkage systems positioned at various locations of the prosthetic foot. In particular, the device includes multiple connected linkage systems each including upper and lower portions with an articulating contact surface designed for load carriage and stability. The point of contact between the contact surfaces of each linkage system comprises the position-dependent instantaneous center of rotation of the upper portion with respect to the lower portion. The device also includes a platform coupled between the linkage systems and a base.

A prosthetic system includes a prosthetic foot with a foot member defining a first end portion, a second end portion, and an intermediate portion defining a curvature and extending between the first and second end portions. A pump mechanism is coupled to the foot member. The pump mechanism includes a housing defining a cavity, and a membrane situated in the cavity. The pump mechanism is movable between an original configuration and an expanded configuration. A movable member includes a first portion coupled to the membrane and a second portion arranged to slidably engage the foot member. Relative movement between the first and second end portions moves the first portion of the movable member relative to the housing and slides the second portion along a length of the foot member to shift the pump mechanism between the original and expanded configurations.

An assistive device is disclosed that includes a plurality of control systems for controlling active and passive tasks. The assistive device accommodates active power generation when needed, but is otherwise configured to switch to passive control for other tasks. The assistive device further includes a continuously variable transmission to optimize movement of the assistive device for a variety of tasks. The assistive device includes a lower limb embodiment defining an artificial knee joint controlled by the plurality of control systems.

A vertical suspension system for a prosthetic foot includes a first member operatively coupleable to an amputee's residual leg. The suspension system can also include a second member coupleable to a prosthetic foot. One or more upper leaf springs and one or more lower leaf springs extend between and are attached to the first and second members such that at least one of the ends of each leaf spring is rotationally fixed to the first or second members, where the upper an lower leaf springs are spaced apart from each other.

In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm).sup.2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.

Prosthetic feet that allow for heel height adjustment and/or provide metatarsal joint functionality to more closely mimic natural human feet are provided. A prosthetic foot can include an ankle module having a locking mechanism configured to lock the heel at a particular height. The prosthetic foot can also include a toe region that adapts to varying heel heights. The ankle module and/or locking mechanism can be adjusted, controlled, and/or locked via a hydraulic mechanism. The toe region can curve upward relative to a portion of the foot proximal of the toe region.

A programmable prosthetic foot includes a heel member simulating a heel portion of a human foot. The heel member has an elongated heel member shaft extending in a vertical direction. The foot also includes a forefoot member simulating a forefoot portion of a human foot. The forefoot member has an elongated forefoot member shaft extending in the vertical direction. A sensor on the foot detects compressive force on the heel member shaft and/or forefoot member shaft during a step. An actuator on the foot imparts vertical translation to the heel member shaft and/or forefoot member shaft. An electronic controller in operable communication with the actuator includes program instructions for operating the actuator by imparting the vertical translation to the heel member shaft and/or forefoot member shaft as a function of the compressive force detected by the sensor.

Prosthetic feet that provide improved rollover and performance are provided. A prosthetic foot can include a lower foot member extending from a heel end to a toe end, a second foot member disposed above the lower foot member, and an optional third foot member disposed above the second foot member. The second foot member is tapered such that its thickness decreases toward the proximal end. Optionally, the second foot member can taper toward its distal end as well as toward its proximal end from an intermediate location on the second foot member. The third foot member can be tapered such that its thickness decreases toward the distal end. There can be a gap between a distal end of the third foot member and the second foot member that closes during dorsiflexion of the prosthetic foot during use and provides dynamic stiffness control to the prosthetic foot.

A prosthetic foot comprises:

i) a lower lamina having a wavy shape comprising a curved front portion and a curved rear portion, whose concavities are oriented upwards with respect to a vertical direction (V), and an intermediate, mostly curved portion having a concavity facing away with respect to the concavities said front and rear portions,
ii) a sickle-shaped front lamina comprising a lower end portion restrained to said lower lamina close to its front portion, an upper end portion configured so as to allow connection of a mounting member of the prosthetic foot, as well as an intermediate, mainly curved portion arranged between the lower end portion and the upper end portion,
iii) a rear lamina comprising an upper portion restrained to the front lamina close to its upper end portion, and a lower portion restrained to the lower lamina at its curved rear portion.

The overall configuration of the prosthetic foot is such that the three laminas are restrained to each other two by two and that their connection points form the vertices of a triangle.

A prosthetic foot includes a heel member and a forefoot member. An ankle member receives the heel member and forefoot member shaft so as to allow the heel member and forefoot member to translate independently of one another.