US 11,701,244 B2
Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
Hugh Miller Herr, Somerville, MA (US); and Richard J. Casler, Jr., Lowell, MA (US)
Assigned to Otto Bock Healthcare LP, Austin, TX (US)
Filed by Otto Bock HealthCare LP, Austin, TX (US)
Filed on May 8, 2019, as Appl. No. 16/406,048.
Application 16/406,048 is a continuation of application No. 14/034,005, filed on Sep. 23, 2013, granted, now 10,285,828, issued on May 14, 2019.
Application 14/034,005 is a continuation of application No. 12/872,425, filed on Aug. 31, 2010, abandoned.
Application 12/872,425 is a continuation in part of application No. 12/552,028, filed on Sep. 1, 2009, abandoned.
Claims priority of provisional application 61/238,305, filed on Aug. 31, 2009.
Claims priority of provisional application 61/231,754, filed on Aug. 6, 2009.
Claims priority of provisional application 61/094,125, filed on Sep. 4, 2008.
Claims priority of provisional application 61/161,999, filed on Mar. 20, 2009.
Prior Publication US 2019/0328552 A1, Oct. 31, 2019
This patent is subject to a terminal disclaimer.
Int. Cl. A61H 3/00 (2006.01); A61F 2/72 (2006.01); A61F 2/60 (2006.01); A61F 2/66 (2006.01); H02K 7/06 (2006.01); A61F 2/50 (2006.01); A61F 2/70 (2006.01); A61F 2/76 (2006.01); H02K 7/116 (2006.01)
CPC A61F 2/72 (2013.01) [A61F 2/60 (2013.01); A61F 2/6607 (2013.01); H02K 7/06 (2013.01); A61F 2002/5003 (2013.01); A61F 2002/503 (2013.01); A61F 2002/5007 (2013.01); A61F 2002/5018 (2013.01); A61F 2002/5087 (2013.01); A61F 2002/701 (2013.01); A61F 2002/704 (2013.01); A61F 2002/7625 (2013.01); A61F 2002/7635 (2013.01); A61F 2002/7645 (2013.01); A61F 2002/7665 (2013.01); H02K 7/116 (2013.01)] 39 Claims
OG exemplary drawing
 
1. An active orthotic or prosthetic apparatus comprising:
a thigh member,
a lower leg member,
a knee joint for connecting the thigh member to the lower leg member,
a rotary motor comprising a motor shaft output;
a motor drive transmission assembly coupled to the motor shaft output;
a drive transmission assembly coupled to an output of the motor drive transmission, with an output of the drive transmission assembly coupled to the lower leg member for applying torque to the knee joint to rotate the lower leg member with respect to the thigh member;
at least one ground force sensor configured to measure a ground force applied to a foot;
at least one position sensor having at least one output from which a position of the thigh member with respect to the lower leg member can be determined; and
a controller configured to modulate at least one of impedance, positions, or torque of the knee joint based at least in part on the output of the at least one ground force sensor and the at least one position sensor and a reflex relation employing positive force feedback and providing a response to the ground force measured by the at least one ground force sensor, the modulating occurring during one or more of: a sub-phase of a walking gait cycle, or during a stand-up routine, and the reflex relation comprising a combination of a non-linear positive torque and a non-linear positive joint velocity feedback.