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.

A prosthetic limb test fixture is configured to mimic a human stride. An electronic management system can control the test fixture to follow the position and pattern of a particular selected gait cycle during testing. A proposed prosthesis can be attached to the test fixture. Sensor data collected during testing can be evaluated to determine whether the proposed prosthesis is likely to appropriately fit an amputee patient. Iterative adjustments may be made to the prosthesis based on test data in order to maximize the likelihood of a good fit.

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 valve includes a case comprising a pin bore, a pin configured to move axially in the pin bore, wherein the pin seals the pin bore, a first channel in communication with the pin bore, a second channel in communication with the pin bore, wherein the second channel comprises a restrictor at a location offset from the first channel, a third channel in communication with the pin bore, wherein the third channel comprises a check valve, and the second channel and third channel are in communication with each other. The valve can be a miniature valve that is used in the control of hydraulic fluid in prosthesis, such as a prosthetic ankle joint.

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.

The invention relates to a prosthetic device for a lower extremity comprising a prosthetic food and a lower leg part secured to the prosthetic foot, as well as a device for manually adjusting an orientation of the lower leg part relative to the prosthetic foot, wherein an inertial angle sensor is arranged on the prosthetic device, which detects the orientation of the lower leg part in the space and which is coupled to an output device which in turn outputs the orientation of the lower leg part in the space or the reaching of a previously determined orientation with an output signal in a manner that can be perceived by a user.

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.

A stimulator substrate device for stimulating nerve cells, and apparatus including same, in particular nerve cells in an extremity, includes a substrate support, in which a plurality of stimulators for emitting stimulation signals to the nerve cells are provided. The plurality of stimulators is provided in a line on the substrate support and the substrate support is tubular.

Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.