Michael Goldfarb,Brian Lawson,Atakan Huseyin Varol
申请号：
US16502914
公开号：
US20190388247A1
申请日:
2019.07.03
申请国别(地区):
US
年份:
2019
代理人:
摘要：
Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.
