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.

Prosthetic devices and methods of controlling the same are provided. A prosthetic ankle device includes a foot unit and lower limb member moveable relative to one another and defining an ankle angle therebetween. The prosthetic ankle device further includes a controller to operate the device based on detecting a decreased load. Methods of controlling the prosthetic ankle device include operating the device at different ankle angles depending on detecting a decreased load on the prosthetic ankle device while standing or stopped.

Routines and methods disclosed herein can increase a power efficiency of a prosthetic hand without drastically reducing the speed at which it operates. A prosthesis can implement an acceleration profile, which can reduce an energy consumption of a motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from an idle state to a non-idle state. A prosthesis can implement a deceleration profile, which can reduce the energy consumption of the motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from a non-idle state to an idle state.

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.

A time-dependent decay behavior is incorporated into one or more joint actuator control parameters during operation of a lower-extremity, prosthetic, orthotic or exoskeleton device. These parameters may include joint equilibrium, joint impedance (e.g., stiffness, damping) and/or joint torque components (e.g., gain, exponent). The decay behavior may be exponential, linear, piecewise, or may conform to any other suitable function. Embodiments presented herein are used in a control system that emulates biological muscle-tendon reflex response providing for Reflex Parameter Modulation a natural walking experience. Further, joint impedance may depend on an angular rate of the joint. Such a relationship between angular rate and joint impedance may assist a wearer in carrying out certain activities, such as standing up and ascending a ladder.

An ankle prosthesis can have a base and an upper hinge component that is pivotably attached to the base about an axis. First and second biasing elements can bias the upper hinge component in first and second rotational directions, respectively. At least one selectively extendable and retractable locking element can extend from one of the base and the upper hinge component and engage the other of the base and the upper hinge component to limit the pivotable movement of the upper hinge component.

An upper extremity prosthesis for placement on a residual limb of a person that includes an elongated member having a first end and an opposite second end and also includes an outer prosthetic shell having a first end and an opposite second end. The prosthesis also includes at least a first support and a second support, wherein the first support and the second support surround and are fixedly coupled to the elongated member at first and second attachment points, respectively. The outer prosthetic shell thus surrounds and is coupled to the first support and the second support. The first support and the second support can be a disk-shaped structure through which the elongated member passes.

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.

A prosthesis or orthosis device includes a knee joint connectable with the user's leg; a swing storage spring-gear mechanism comprising a balancing spring inserted in an ankle member housing located in an ankle member, a drive gear, a driven gear, an intermediate gear and a gear rod, and a foot part comprising a dorsiflexion spring; a lower leg connecting a knee joint and a foot part to each other, in which a weight-receiving member is located; and a swing storage mechanism connected to the foot part by a second housing of the connection tube and a gear rod pin, and to the knee joint by a first housing of the connection tube and a first housing of the knee joint; and a weight-receiving mechanism comprising a weight-receiving member and a compression arm and a lock fork for activating and deactivating the weight-receiving member.

Knee orthoses or prostheses can be used to automatically, when appropriate, initiate a stand-up sequence based on the position of a person's knee with respect to the person's ankle while the person is in a seated position. When the knee is moved to a position that is forward of the ankle, at least one actuator of the orthosis or prosthesis is actuated to help raise the person from the seated position to a standing position.