Hugh Miller Herr,Richard J. Casler, Jr.,Zhixiu Han,Christopher Eric Barnhart,Gary Girzon
申请号：
US14136344
公开号：
US09693883B2
申请日:
2013.12.20
申请国别(地区):
US
年份:
2017
代理人:
摘要：
In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step by using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined.
