The present application describes a mechanical hand (100) comprising a plurality of finger assemblies (102) each selectively moveable by a respective finger drive assembly about a finger pivot axis along a finger flexion/extension plane and between a finger open position and a finger closed position; a thumb assembly (104) selectively rotatable by a first thumb drive assembly about a first thumb axis between an opposed position and a non-opposed position with respect to the finger assemblies, and selectively moveable by a second thumb drive assembly about a second thumb axis along a thumb flexion/extension plane and between a thumb open position and a thumb closed position; a controller operatively coupled to the finger and thumb drive assemblies; and a selector operatively coupled to the controller for selecting a desired thumb rotational position or a desired grip to be defined by the finger assemblies and the thumb assembly. A method of operating a mechanical hand is also described.

The present application describes a prosthetic or robot part (500), comprising at least one phalange member (532) pivotally coupled to a base (509) at a pivot axis; and a drive assembly to selectively move the phalange member about the pivot axis along a flexion/extension plane between an open position and a closed position, said drive assembly comprising a drive element (512) coupled to an actuator (506) and a driven element (514) coupled to the phalange member; wherein the driven element (514) is decouplable from the drive element (512) when the phalange member is caused to move in a first rotational direction about the pivot axis by an external force.

A prosthetic knee provides security and stability, particularly to low activity users, household and limited community ambulators, single and/or slow speed ambulators, and those with little voluntary control, while also balancing walking (dynamic) performance for low activity users. The prosthetic knee includes a housing, parallel anterior links, a posterior link, and a chassis. The geometry of the links and their relationship to one another allow for low voluntary control, shortening of mid-swing, which reduces stumbling risk, and geometric stability in stance. The anterior links are particularly oriented, sized and located to provide for stability. The anterior links both extend above the posterior link and substantially below the posterior link. The prosthetic knee includes a locking mechanism arranged to arrest movement of the posterior link. The knee including a locking mechanism connected to the housing and arranged to block rotation of the posterior link. The locking mechanism is a spring loaded latch including a pair of elongate springs extending downwardly from the latch to the housing and being connected to the housing below the upper pivot point of the posterior link and to a pin engaging the forward end of the latch.

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.

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.

A prosthetic ankle joint for a prosthetic foot attached to a base assembly. A linkage assembly provided between the base assembly and a torque bracket including an adapter unit disposed at top of the torque bracket to provide a connection to a lower tube-shaped clamp fitted over a pilon. The pilon extends upward to a second tube-shaped clamp connected to a lower portion of a socket receiving a residual limb of an amputee.

Features for a prosthetic wrist and associated methods are described. The wrist couples with a prosthetic socket and a prosthetic hand. The wrist may rotate the hand. The wrist includes features to prevent or mitigate undesirable separation of the wrist from the socket. The wrist may have an expanding coupling, such as an expanding ring, to better secure the wrist with the socket. An actuator may cause the coupling to expand outward to prevent or mitigate undesirable separation of the wrist from the socket. Alternatively or in addition, the wrist may include torque control features to prevent undesirable or premature separation of the hand from the wrist, for example when using a “quick wrist disconnect” (QWD) apparatus. A torque control method may tailor or limit multiple torques to be applied by the wrist to the hand based on operational requirements and phases, such as anticipated torque loads and operational timing.

An artificial knee is configured to be worn by a person. Artificial knees include a thigh link configured to move in unison with a thigh of the person, and a shank link configured to be coupled to the thigh link. Artificial knees include a compression spring coupled to the thigh link at a first end of the compression spring, the compression spring configured to be coupled to the shank link at a second end of the compression spring. The compression spring is configured to provide an extension torque between the thigh link and the shank link during a first range of motion of the thigh link and the shank link relative to each other. The compression spring is configured to provide a flexion torque between the thigh link and the shank link during a second range of motion of the thigh link and the shank link relative to each other.

Features for a prosthetic wrist and associated methods are described. The wrist couples with a prosthetic socket and a prosthetic hand. The wrist may rotate the hand. The wrist includes features to prevent or mitigate undesirable separation of the wrist from the socket. The wrist may have an expanding coupling, such as an expanding ring, to better secure the wrist with the socket. An actuator may cause the coupling to expand outward to prevent or mitigate undesirable separation of the wrist from the socket. Alternatively or in addition, the wrist may include torque control features to prevent undesirable or premature separation of the hand from the wrist, for example when using a “quick wrist disconnect” (QWD) apparatus. A torque control method may tailor or limit multiple torques to be applied by the wrist to the hand based on operational requirements and phases, such as anticipated torque loads and operational timing.

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.