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Patent US7637959 - Systems and methods for adjusting the angle of a prosthetic ankle based on a ... - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign in<nobr>Advanced Patent Search</nobr>PatentsSystem and method for adjusting the angle of a prosthetic ankle are disclosed. In one example, the system, such as an actuated prosthetic ankle joint, detects the surface angle and actively adjusts the members of the ankle to a preferred angle according to the respective slope of the incline/decline...http://www.google.com/patents/US7637959?utm_source=gb-gplus-sharePatent US7637959 - Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angleAdvanced Patent SearchPublication numberUS7637959 B2Publication typeGrantApplication numberUS 11/367,048Publication dateDec 29, 2009Filing dateMar 1, 2006Priority dateFeb 12, 2004Fee statusPaidAlso published asCA2644222A1, CN101437470A, CN101437470B, EP1996129A2, US7896927, US8657886, US20060224246, US20060224247, US20110224804, US20110245931, WO2007103136A2, WO2007103136A3Publication number11367048, 367048, US 7637959 B2, US 7637959B2, US-B2-7637959, US7637959 B2, US7637959B2InventorsArinbj�rn V. Clausen, Heidrun G. Ragnarsdottir, Helgi Jonsson, Paul MacDonaldOriginal Assignee�ssur hfExport CitationBiBTeX, EndNote, RefManPatent Citations (99), Non-Patent Citations (17), Referenced by (7), Classifications (20), Legal Events (7) External Links: USPTO, USPTO Assignment, EspacenetSystems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angleUS 7637959 B2Abstract System and method for adjusting the angle of a prosthetic ankle are disclosed. In one example, the system, such as an actuated prosthetic ankle joint, detects the surface angle and actively adjusts the members of the ankle to a preferred angle according to the respective slope of the incline/decline.
1. A method for operating a prosthetic ankle worn by a user, comprising:
providing a prosthetic ankle comprising a foot unit, a lower limb member, and at least one actuator having a first end connected to the foot unit and a second end connected to the lower limb member, the at least one actuator configured to adjust an ankle angle between the foot unit and the lower limb member, the foot unit and lower limb member configured to rotate at about a location of a natural human ankle;
measuring a degree of a surface angle of a surface upon which the user moves with the prosthetic ankle; and
actuating the at least one actuator to move the foot unit relative to the lower limb member to an ankle response angle, wherein the ankle response angle is determined by,
applying the measured surface angle degree to a first formula when the measured surface angle degree is less than zero degrees, and
applying the measured surface angle degree to a second formula when the measured surface angle degree is greater than zero degrees, the first formula being different than the second formula.
2. The method of claim 1, wherein actuating the at least one actuator to move the foot unit relative to the lower limb member comprises decreasing the ankle response angle between about zero and thirty degrees when the measured surface angle degree is greater than zero degrees.
3. The method of claim 1, wherein actuating the at least one actuator to move the foot unit relative to the lower limb comprises increasing the ankle response angle between about zero and thirty degrees when the measured surface angle degree is less than zero degrees.
4. The method of claim 1, wherein the surface angle is measured using at least one sensor provided on the prosthetic ankle.
5. A method for operating a prosthetic ankle worn by a user, comprising:
providing a prosthetic ankle comprising a foot unit and a lower limb member, the foot unit and lower limb member configured to rotate at about a location of a natural human ankle;
adjusting an angle between the foot unit and the lower limb member to an ankle response angle based on the measured surface angle degree, wherein the ankle response angle is determined by,
applying the measured surface angle degree to a first formula when the measured surface angle degree is less than a predetermined angle, and
applying the measured surface angle degree to a second formula when the measured surface angle degree is greater than the predetermined angle, the first formula being different than the second formula.
6. The method of claim 5, wherein adjusting an angle between the foot unit and the lower limb member comprises decreasing the ankle response angle between about zero and thirty degrees when the measured surface angle degree is greater than the predetermined angle.
7. The method of claim 5, wherein adjusting an angle between the foot unit and the lower limb member comprises increasing the ankle response angle between about zero and thirty degrees when the measured surface angle degree is less than the predetermined angle.
8. The method of claim 5, wherein the angle between the foot unit and lower limb member is adjusted with at least one actuator.
9. The method of claim 5, wherein the surface angle is measured using at least one sensor provided on the prosthetic ankle.
10. A method for operating a prosthetic ankle worn by a user, comprising:
measuring a surface angle of a surface upon which the user moves with the prosthetic ankle;
calculating a desired angle between the foot unit and the lower limb member for moving upon the surface, wherein the calculation is based at least in part on the measured surface angle, wherein said calculating further comprises,
applying the measured surface angle to a first formula when the surface comprises a declined surface, and
applying the measured surface angle to a second formula when the surface comprises an inclined surface, the first formula being different than the second formula; and
adjusting an angle between the foot unit and the lower limb member to the desired angle.
11. The method of claim 10, wherein the desired angle is a percentage of the measured surface angle for at least one of the surface comprising the declined surface and the surface comprising the inclined surface.
12. The method of claim 11, wherein the desired angle is a percentage of the measured surface angle when the surface comprises the inclined surface.
13. The method of claim 10, wherein the desired angle decreases in dorsiflexion from an angle of the prosthetic ankle in a neutral position when the surface comprises the inclined surface, and the desired angle increases in plantarflexion from an angle of the prosthetic ankle in the neutral position when the surface comprises the declined surface.
14. The method of claim 13, wherein an amount that the desired angle decreases in dorsiflexion is larger relative to the measured surface angle of the inclined surface than an amount that the desired angle increases in plantarflexion relative to the measured surface angle of the declined surface.
15. The method of claim 14, wherein the amount that the desired angle decreases in dorsiflexion is about 100% of the measured surface angle of the inclined surface, and the amount that the desired angle decreases in plantarflexion is between about 10% and 100% of the measured surface angle of the declined surface.
16. The method of claim 15, wherein the amount that the desired angle decreases in plantarflexion increases nonlinearly as the measured surface angle of the declined surface increases.
17. The method of claim 10, wherein an amount of angle adjustment to achieve the desired angle is between about 10% and 100% of the measured surface angle of the declined surface.
18. The method of claim 10, wherein the measured surface angle is measured using at least one sensor provided on the prosthetic ankle.
19. The method of claim 10, wherein an amount of ankle adjustment to achieve the desired angle on the declined surface changes approximately according to the formula y=−0.017x2+0.1501x, wherein x is the surface angle and y is the response angle for achieving the desired angle between the foot unit and the lower limb member.
20. The method of claim 10, wherein the desired angle is an increased angle relative to an angle of the prosthetic ankle in a neutral position when the measured surface angle corresponds to the declined surface.
21. The method of claim 10, wherein the desired angle is a decreased angle relative to an angle of the prosthetic ankle in a neutral position when the measured surface angle corresponds the inclined surface.
22. The method of claim 1, wherein at least one of the first and second formulas comprises a non-linear formula.
23. The method of claim 22, wherein the second formula comprises a linear formula.
24. A method for operating a prosthetic ankle worn by a user, the method comprising:
measuring a surface angle of a surface upon which a user moves with a prosthetic ankle comprising a foot unit and a lower limb member, the foot unit and lower limb member configured to rotate at about a location of a natural human ankle;
calculating a desired angle between the foot unit and the lower limb member for moving upon the surface, wherein the calculation is based at least in part on the measured surface angle, wherein an amount of ankle adjustment to achieve the desired angle changes approximately according to the formula y=−0.017x2+0.1501x, wherein x is the surface angle and y is the desired angle between the foot unit and the lower limb member; and
CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation-in-part of U.S. application Ser. No. 11/056,344, filed Feb. 11, 2005 and U.S. application Ser. No. 11/057,391, filed Feb. 11, 2005, now U.S. Pat. No. 7,431,737, both of which claim the benefit of U.S. Provisional Application 60/544,259, filed Feb. 12, 2004 and 60/588,232, filed Jul. 15, 2004. The entirety of all four of these applications is hereby incorporated by reference.
In another embodiment, a prosthetic system is disclosed that mimics the movement of a natural ankle in a relaxed position. The prosthetic system comprises a prosthetic ankle joint comprising a foot unit and an upper member moveably attached to the foot unit to simulate a natural human ankle joint. The system further comprises a controller configured to automatically adjust the state of the prosthetic ankle joint, wherein the controller is configured to automatically adjust the prosthetic ankle joint to a relaxed state upon receiving data indicative of a user's movement to a relaxed position.
In another embodiment, a prosthetic system is disclosed for mimicking the natural movement of an ankle in a relaxed position. The prosthetic system comprises a prosthetic foot. The prosthetic system further comprises a pivot assembly attached to a first location on the prosthetic foot, wherein the first location is near a natural ankle location of the prosthetic foot. The prosthetic system further comprises a lower limb member extending in a tibial direction, the lower limb member having an upper end and a lower end, wherein the lower end of the lower limb member is operatively coupled to the pivot assembly. The prosthetic system further comprises an actuator coupled to the prosthetic foot and to the lower limb member, wherein the actuator is configured to adjust an angle between the lower limb member and the prosthetic foot about the pivot assembly. The prosthetic system further comprises at least one sensor configured to detect a position of a user of the prosthetic system. The prosthetic system further comprises a controller configured to operate the actuator. With regards to the prosthetic system described, the at least one sensor is configured to transmit data to the controller indicative of when the user is in a relaxed position, said relaxed position determined by the user positioning the prosthetic system within a range of defined angles relative to a ground surface for a defined amount of time and the prosthetic system having an acceleration less than a maximum threshold value, and wherein the controller is configured to operate the actuator to cause an angle between the prosthetic foot and the lower limb assembly to increase about the pivot assembly such that the prosthetic foot becomes more plantarflexed relative to the lower limb assembly.
In another embodiment, a method is disclosed for adjusting a prosthetic ankle device. The method comprises monitoring with at least one sensor the movement of a user of a prosthetic ankle device. The method further comprises generating data indicative of the movement. The method further comprises processing the data with a processing module to determine whether the user is in a relaxed position. The method further comprises adjusting the prosthetic ankle device based on whether the user is in a relaxed position, wherein adjusting the prosthetic ankle device comprises automatically adjusting a configurable element of the prosthetic ankle device.
In another embodiment, a method is disclosed for adjusting a prosthetic ankle device comprising a prosthetic foot and a limb member moveably connected at a location about a natural human ankle joint. The method comprises measuring with at least one sensor the angle of the prosthetic ankle device relative to a ground surface and an acceleration of the device. The method further comprises determining whether the angle of the prosthetic ankle device relative to the ground surface falls within a defined range of angles. The method further comprises determining whether the acceleration of the device is above or below a threshold acceleration. The method further comprises adjusting an angle between the prosthetic foot and the limb member to a plantarflexed or dorsiflexed configuration upon determining that the angle of the ankle device relative to the ground surface falls within the defined range of angles and upon determining that the acceleration of the device is above or below the threshold acceleration.
In another embodiment, a method is disclosed for operating a prosthetic ankle worn by a user. The method comprises providing a prosthetic ankle comprising a foot unit and a lower limb member, the foot unit and lower limb member configured to rotate at about a location of a natural human ankle. The method further comprises detecting an incline or decline of a surface while the user moves with the prosthetic ankle. The method further comprises adjusting an angle between the foot unit and the lower limb member based on the detected incline or decline.
In another embodiment, a method is disclosed for operating a prosthetic ankle worn by a user. The method comprises providing a prosthetic ankle comprising a foot unit and a lower limb member, the foot unit and the lower limb member configured to rotate at about a location of a natural human ankle. The method further comprises measuring a terrain variable upon which the user moves with the prosthetic ankle. The method further comprises adjusting an angle between the foot unit and the lower limb member based on the measured terrain variable.
In another embodiment, a method is disclosed for operating a prosthetic ankle worn by a user. The method comprises providing a prosthetic ankle comprising a foot unit and a lower limb member, the foot unit and the lower limb member configured to rotate at about a location of a natural human ankle. The method further comprises measuring a surface angle of a surface upon which the user moves with the prosthetic ankle. The method further comprises calculating a desired angle between the foot unit and the lower limb member for moving upon the surface, wherein the calculation is based at least in part on the measured surface angle. The method further comprises adjusting an angle between the foot unit and the lower limb member to the desired angle.
FIG. 22 is a graph illustrating preferred ankle response angles for respective degrees of incline/decline.
The term �coronal� as used herein is a broad term and is used in its ordinary sense and relates to any description, location, or direction relating to, situated in, or being in or near the plane that passes through the long axis of the body. A �coronal plane� may also refer to any plane that passes vertically or approximately vertically through the body and is perpendicular or approximately perpendicular to the median plane and that divides the body into anterior and posterior sections.
FIGS. 5 and 6 illustrate one embodiment of the prosthesis 100 as it adjusts to inclines and declines. With reference to FIG. 5, the prosthesis 100 is depicted as adjusting to an incline. In this embodiment, the actuator 116 extends so as to decrease an angle θ between the lower limb member 102 and the foot unit 104 (or �dorsiflexion�). With respect to dorsiflexion, in one embodiment, the angular range of motion of the prosthesis 100 is from about 0 to 10 degrees from the neutral position. Other embodiments may also facilitate exaggerated dorsiflexion during swing phase.
FIG. 8 illustrates a graph depicting the possible range of ankle motion of an embodiment of the prosthesis 100 during one full stride on a level surface. As shown, the x-axis of the graph represents various points during one full stride of a user (i.e., 0 to 100 percent). The y-axis represents the ankle angle (Δ) of the prosthesis 100 relative to the ankle angle when the prosthesis is in a neutral position. During one full stride, the ankle angle (Δ) varies from approximately 20 degrees plantarflexion (i.e., neutral position angle+20 degrees) to approximately 10 degrees dorsiflexion (i.e., neutral position angle−10 degrees).
In other embodiments, the sensor module 302 may include one or more other types of sensors in combination with, or in place of, accelerometers. For example, the sensor module 302 may include a gyroscope configured to measure the angular speed of body segments and/or the ankle device 304. In other embodiments, the sensor module 302 includes a plantar pressure sensor configured to measure, for example, the vertical plantar pressure of a specific underfoot area. In yet other embodiments, the sensor module 302 may include one or more of the following: kinematic sensors, single-axis gyroscopes, single- or multi-axis accelerometers, load sensors, flex sensors or myoelectric sensors that may be configured to capture data from the user's natural limb. U.S. Pat. Nos. 5,955,667, 6,301,964, and 6,513,381, also illustrate examples of sensors that may be used with embodiments of the invention, which patents are herein incorporated by reference in their entireties and are to be considered as part of this specification.
In one embodiment, the sensor module 302 is configured to power down into a �sleep� mode when sensing is not needed, such as for example, when the user is relaxing while in a sitting or reclining position. In such an embodiment, the sensor module 302 may awake from the sleep state upon movement of the sensor module 302 or upon input from the user. In one embodiment, the sensor module 302 consumes approximately 30 milliamps (mA) when in an �active� mode and approximately 0.1 mA when in a �sleep� mode.
In one embodiment of the invention, the CPU 305 processes data relating to state transitions according to the following table (TABLE 1). In particular, TABLE 1 shows possible state transitions usable with the control system 300. The first column of TABLE 1 lists possible initial states of the ankle device 304, and the first row lists possible second states of the ankle device 304. The body of TABLE 1 identifies the source of data used by the CPU 305 in controlling, or actively adjusting, the actuator 316 and the ankle device 304 during the transition from a first state to a second state; wherein �N� indicates that no additional data is needed for the state transition; �L� indicates that the CPU 305 uses transition logic to determine the adjustments to the ankle device 304 during the state transition; and �I� indicates the CPU receives data from an interface (e.g., interface module 308, external user interface, electronic interface or the like). Transition logic usable with embodiments of the invention may be developed by one with ordinary skill in the relevant art. Examples of transition logic used in similar systems and methods to embodiments of the present invention are disclosed in U.S. Provisional Application No. 60/572,996, entitled �CONTROL SYSTEM AND METHOD FOR A PROSTHETIC KNEE,� filed May 19, 2004, and U.S. application Ser. No. 11/077,177, entitled �CONTROL SYSTEM AND METHOD FOR A PROSTHETIC KNEE,� filed Mar. 9, 2005, each of which is hereby incorporated herein by reference in its entirety and is to be considered as a part of this specification.
HEEL� TO STATE
HEIGHT_CAL
Examples of similar or other control systems and other related structures and methods are disclosed in U.S. patent application Ser. No. 10/463,495, filed Jun. 17, 2003, entitled �ACTUATED LEG PROSTHESIS FOR ABOVE-KNEE AMPUTEES,� now published as U.S. Publication No. 2004/0111163; U.S. patent application Ser. No. 10/600,725, filed Jun. 20, 2003, entitled �CONTROL SYSTEM AND METHOD FOR CONTROLLING AN ACTUATED PROSTHESIS,� now published as U.S. Publication No. 2004/0049290; U.S. patent application Ser. No. 10/627,503, filed Jul. 25, 2003, entitled �POSITIONING OF LOWER EXTREMITIES ARTIFICIAL PROPRIOCEPTORS,� now published as U.S. Publication No. 2004/0088057; U.S. patent application Ser. No. 10/721,764, filed Nov. 25, 2003, entitled �ACTUATED PROSTHESIS FOR AMPUTEES,� now published as U.S. Publication No. 2004/0181289; and U.S. patent application Ser. No. 10/715,989, ,� filed Nov. 18, 2003, entitled �INSTRUMENTED PROSTHETIC FOOT,� now published as U.S. Publication No. 2005/0107889; each which is herein incorporated by reference in its entirety and is to be considered as part of this specification. In addition, other types of control systems that may be used in embodiments of the present invention are disclosed in U.S. Provisional Application No. 60/551,717, entitled �CONTROL SYSTEM FOR PROSTHETIC KNEE,� filed Mar. 10, 2004; U.S. Provisional Application No. 60/569,511, entitled �CONTROL SYSTEM AND METHOD FOR A PROSTHETIC KNEE,� filed May 7, 2004; and U.S. Provisional Application No. 60/572,996, entitled �CONTROL SYSTEM AND METHOD FOR A PROSTHETIC KNEE,� filed May 19, 2004, which are herein incorporated by reference in their entireties to be considered as part as this specification.
Two incline angle threshold levels (x�, y�)
Stepwise (2 steps) angle adjustment (z�, w�)
Example: If incline angle > x�, ankle will
adjust to −z�; if incline angle > y�, ankle
will adjust to −w�, wherein x = 2.5� and
y = 5�.
Two decline angle threshold levels (x�, y�)
Example: If decline angle > x�, ankle will
adjust to z�; if decline angle > y�, ankle will
adjust to w�, wherein x = 2.5� and y = 5�.
The lower limb prosthesis 100′ comprises a first portion 102′ coupled to a second portion 104′, wherein the portions 102′, 104′ are moveable relative to each other to mimic a natural human joint. In the illustrated embodiment, the first portion is a lower limb member 102′ and the second portion is a prosthetic foot unit 104′ operatively coupled to the lower limb member 102′ to mimic a natural human ankle joint. The foot unit 104′ includes a heel portion 104 a′ at a rear end of the foot unit 104′ and a toe portion 104 b′ at a front end of the foot unit 104′. In one embodiment, the heel and toe portions 104 a′, 104 b′ can be unitary. In another embodiment, the heel and toe portions 104 a′, 104 b′ can be separate components fastened to each other via, for example, bolts, screws, adhesives and the like. In the illustrated embodiment, the prosthetic foot unit 104′ is an LP VARI-FLEX� prosthetic foot commercially available from �ssur. However, the foot unit 104′ can have other configurations or designs. In another embodiment (not shown), the first and second portions can be an upper leg member and a lower leg member, respectively, which are coupled to mimic a natural human knee joint.
Preferably, rotor 530 rotates about, and translates along, the longitudinal axis Y, as further discussed below. In one embodiment, the rotor 530 remains coupled to the top unit 510 via the ball bearing 522, but selectively moves in and out of contact with the retainer 550 via the inner flange 556 a, as further described below. In another embodiment, the rotor 530 moves between contact with the top unit 510, via the ball bearing 522, and contact with the retainer 550 via the inner flange 556 a. As best shown in FIGS. 17 and 18, a first magnet 560 a and a second magnet 560 b are disposed about a portion of the rotor 530. The first and second magnets 560 a, 560 b preferably have a height 562 a, 562 b and an inner diameter 564 a, 564 b larger than the diameter 534 of the rotor 530, so that the magnets 560 a, 560 b fit about the rotor 530. In one embodiment, the inner diameters 564 a, 564 b of the first and second magnets 560 a, 560 b are between about 12 mm and about 40 mm, and more preferably about 17 mm. In one embodiment, the magnets 560 a, 560 b are magnetized rings with 24 poles. Additionally, as shown in FIG. 17-18, a spacer 568 is disposed between the first and second magnets 560 a, 560 b. Preferably, the spacer 568 also has a diameter greater than the diameter 534 of the rotor 530, so that the spacer 568 fits about the rotor 530. Though the illustrated embodiment depicts two magnets 560 a, 560 b and one spacer 568, one of ordinary skill in the art will recognize that any number of magnets and spacers can be used.
As mentioned above with reference to TABLE 1 and FIG. 9, in some embodiments of the invention, there are certain defined states of the ankle device 304. One of these states is the �RELAX� state. In one embodiment, when the sensor module 302 detects that the user has moved to a relaxed position, the control device 300 may initiate the �RELAX� state.
In one embodiment of the invention, the sensor module 302 detects when the user has moved to a relaxed position, such as sitting, crossing legs, reclining, lying down, crawling, leaning, etc. The sensor module 302 may detect these relaxed positions by measuring combinations of vertical acceleration (from which it may determined, for example, whether the overall ankle device 304, particularly the foot unit 104 (with reference to FIG. 1), is in a tilted position with respect to the ground, such as resting on the heel with legs outstretched in a sitting or lying down position), horizontal/lateral acceleration, and time. For instance, the sensor module 302 may comprise an accelerometer capable of measuring acceleration in the y-axis. In one embodiment, the measured vertical acceleration corresponds to the force of gravity. The accelerometer may be placed on the ankle device 304. In one embodiment, the accelerometer may be placed on the lower limb member 102 (with reference to FIG. 1), though the accelerometer may be placed anywhere on the ankle device 304. When placed on the lower limb member 102, the accelerometer may be used to measure an angle of the lower limb member 102 relative to vertical, which may then be used to determine an angle of the overall ankle device relative to the ground. As the ankle device 304 rotates from the upright, vertical position, the corresponding force of gravity will vary relative to the degree of rotation. For instance, when the ankle device 304 is in an upright, vertical position, the accelerometer may measure the standard force of gravity, 9.8 m/s2. As the ankle device 304 rotates from the vertical position, the accelerometer may measure a fraction of the Earth's global force of gravity relative to the changing angle of the ankle device 304 with respect to the ground. Thus, a sensor module 302 configured to measure acceleration in the vertical plane may be used to determine the stationary angle of the ankle device 304 with respect to the ground. For example, the sensor module 302 may indicate that the ankle device 304 is tilted at an angle of 90� with respect to the ground. This might indicate, for example, that the user is lying completely flat on the back. Alternatively, the sensor module 302 may indicate that the ankle device 304 is at an angle of 45� with respect to the ground, indicating perhaps that the user is sitting down with legs outstretched in such a manner as to form a 45� angle with respect to the ground.
In addition to the vertical acceleration, the sensor module 302 may also comprise an accelerometer configured to measure acceleration in the horizontal, or lateral, plane. This accelerometer may measure the ground acceleration of the ankle device 304 as the user moves in horizontal directions. Moreover, the control device 300 may also comprise a timer (not shown) that may be used to measure the amount of time during which the sensor module 302 detects certain conditions of acceleration.
To detect certain relaxed positions, the control device 300 may be configured to monitor the measurements of acceleration by the sensor module 302 over a period of time. In one embodiment, a range of angles of the ankle device 304 compared to the ground is defined that indicates the movement of the user to a relaxed position. To enter into the �RELAX� state, the control device 300 may determine that the angle between the ankle device 304 and the ground, as detected by the sensor module 302, is within the defined range. Additionally or alternatively, a range of lateral/horizontal acceleration of the ankle device 304 may be defined. To enter into the �RELAX� state, the control device 300 may determine that the lateral/horizontal acceleration of the ankle device 304, as detected by the sensor module 302, falls within the defined range. Additionally or alternatively, a range of time may be defined during which the above-mentioned conditions may be met. In other words, to enter the �RELAX� state, the control device 300 may determine that the ankle device, for a specified period of time, is at angle with respect to ground within the defined range and/or is accelerating within the defined range indicative of a user's movement to a relaxed position. Thus, an algorithm that triggers execution of the �RELAX� state might define the variables: start maximum acceleration delta (the upper limit of possible acceleration of the ankle device 304 that triggers the �RELAX� state), the start minimum angle (the lower limit of the angle of the ankle device 304 with respect to ground that triggers the �RELAX� state), the start maximum angle (the upper limit of the angle of the ankle device 304 with respect to ground that triggers the �RELAX� state), and start time (the amount of time that a combination of the other variables may be satisfied to trigger the �RELAX� state).
In one embodiment, used for example when a user is sitting down, reclining or crawling, the start maximum acceleration delta may be about 1 m/s2, indicating a threshold such that movement artifacts from the user should be less than about 1 m/s2. Alternatively, the maximum acceleration delta may be between about 0.1 m/s2 and 50 m/s2. The start minimum angle of the foot member relative to the ground may be about 30 degrees, and the start maximum angle may be −90 degrees, for example, representing that a user is lying down on the stomach. Alternatively, the range of angles may be between about −90� and +90�, the latter representing, for example, that a user is lying down on the back. The start time may for example be about 1 second or more. When each of these variables is satisfied, the ankle device will move to a relaxed state, as described below.
In other embodiments, the control device 300 may detect conditions indicative of a user's movement out of a relaxed position and may initiate an �EXIT� state. The determination of a user's movement out of a relaxed position may be similar to the determination of a user's movement into a relaxed position. Thus, an algorithm that triggers execution of the �EXIT� state might define the variables: end minimum acceleration delta (the lower limit of possible acceleration of the ankle device 304 that triggers the �EXIT� state), the end minimum angle (the lower limit of the angle of the ankle device 304 with respect to ground that triggers the �EXIT� state), and the end maximum angle (the upper limit of the angle of the ankle device 304 with respect to ground that triggers the �EXIT� state). In some embodiments, the �EXIT� state may be initiated regardless of whether the �RELAX� state is initiated first. Thus, the �EXIT� state may adjust the device for a preferred configuration for exiting a relaxed position, even if the relaxed position is never detected and/or the �RELAX� state is never initiated. For instance, the control device 300 may detect that the user is in a sitting position without causing the device to adjust to a particular �RELAX� state. It may be advantageous, however, to adjust the device to an �EXIT� state even though a �RELAX� state is not initiated. For example, the �EXIT� state may cause the device to be adjusted to a particular configuration that is advantageous when a user stands up from a sitting position, such as causing the device to dorsiflex in order to help shift the user's center of momentum to be over his/her feet to facilitate standing. This �EXIT� state may be advantageous regardless of whether the device ever initiated a corresponding �RELAX� state.
In one embodiment, to execute the �EXIT� state, the end minimum acceleration delta may be about 25 M/s2, allowing the user to exit the �RELAX� state by moving the ankle device greater than about 25 M/s2, such as by kicking the ankle device to the ground. Alternatively, the end minimum acceleration delta may be between about 0.1 m/s2 and 50 m/s2. The �EXIT� state may also be defined by an angle of the ankle device relative to the ground being between an end minimum angle of about −80 degrees and an end maximum angle of 10 degrees. Alternatively, the range of angles may be between about −90� and 90�.
In one embodiment, the �RELAX� state specifies a particular angle between the foot unit 104 and lower limb member 102 to which the ankle device 304 should be adjusted. For instance, when the control device 300 initiates the �RELAX� state, the control drive module 310 may cause the actuator 316 to adjust the ankle device 304, for example, to a plantarflexion position of at least 10�, more preferably about 15�. (With respect to FIG. 1, a plantarflexion position of about 15� is when the lower limb prosthesis 100 is adjusted such that the angle between the foot unit 104 and the lower limb member 102 is about 15� more than the angle between the foot unit 104 and the lower limb member 102 in the neutral position. At the neutral position, there is 0� of plantarflexion and dorsiflexion. Generally, the �neutral position� is when the lower limb member 102 is vertical relative to a horizontal plane, such as the ground. This neutral position will translate to any range of actual ankle angle depending on the heel height of the foot unit 104.) The plantarflexion of the ankle device 304 may mimic the natural plantarflexion of a human foot, may be functionally advantageous, may be aesthetically appealing, etc. Similarly, when the control device initiates the �EXIT� state, the control drive module 310 may cause the actuator 316 to adjust the ankle device 304, for example, to a dorsiflexion position of at least 5�. In one embodiment, the range of angles may be between about 1� and 15� of dorsiflexion, and as discussed above, may be used either when the ankle is exiting from a �RELAX� state, a neutral position where there is 0� of plantarflexion and dorsiflexion, or any other desired configuration. (Again with reference to FIG. 1, a dorsiflexion position of 10� is when the lower limb prosthesis 100 is adjusted such that the angle between the foot unit 104 and the lower limb member 102 is 10� less than the angle between the foot unit 104 and the lower limb member 102 in the neutral position.)
In other embodiments, the �RELAX� state may specify a certain power mode, such as a low power mode, to which the control device 300 should automatically adjust. For instance, the control device 300 might instruct the power module 318 to enter a low power mode, such as a hibernation mode, when the control device 300 determines to initiate the �RELAX� state. Similarly, the �EXIT� state may specify another power mode, such as a normal power mode, to which the control device 300 should automatically adjust. In yet other embodiments, the �RELAX� state and the �EXIT� state may specify certain heel heights, to which the control device should automatically adjust. In still other embodiments, it may be advantageous not to initiate the �RELAX� state or �EXIT� state for a certain period of time after the conditions for initiating these states have been detected.
In addition to defining certain states, some embodiments of the invention may define certain optimal adjustments for particular terrain variables. For instance, in some embodiments, there are optimal adjustments made while the user is ascending an incline or descending a decline. Thus, embodiments of the invention may define optimal adjustments for responding to changes in inclination and declination, such as adjusting the angle of the ankle device with respect to the ground. FIGS. 5 and 6 illustrate embodiments of the invention engaging an inclining slope and declining slope, respectively. In FIG. 5, angle alpha (α) indicates the relative slope of the incline. Similarly, in FIG. 6, angle alpha (α) indicates the relative slope of the decline. In FIGS. 5 and 6, the angle theta (θ) indicates the angle between the lower limb member 102 and the foot unit 104 of a lower limb prosthesis 100 having an ankle-motion-controlled foot. When the lower limb prosthesis 100 is in its neutral, unadjusted state, the angle theta (θ) may be described as the neutral angle, or the angle of the lower limb prosthesis 100 on level ground. As the user maneuvers on inclined or declined slopes, the lower limb prosthesis 100 adjusts itself to engage the ground by contracting, for inclines, and by expanding, for declines, the angle theta (θ) between the lower limb member 102 and the foot unit 104. In FIGS. 5 and 6, the lower limb prosthesis 100 has been adjusted such that the angle theta (θ) between the lower limb member 102 and the foot unit 104 increases or decreases a desired amount based on the angle alpha (α), which is the measurement of the relative slope. Thus, in FIG. 5, for instance, the angle theta (θ) reflects the neutral angle, measured when the lower limb prosthesis is on level ground, minus the degree of inclination, reflected by the angle alpha (α). Similarly, the angle theta (θ) in FIG. 6 reflects the neutral angle plus the degree of declination. For some slopes, it may be desirable not to adjust the lower limb prosthesis 100 to reflect the entire degree of inclination/declination, or may even be desirable to adjust the lower limb prosthesis 100 to reflect more.
Thus, in some embodiments, it is advantageous to adjust the angle of the foot unit 104 to the lower limb member 102 to account for the relative incline and/or decline of the terrain. For example, the angle may decrease by about 0 to 30 degrees when adjusting to an incline, or may increase by about 0 to 30 degrees when adjusting to a decline. When the user is on level ground and the lower limb member 102 is vertical with respect to the horizontal ground surface, the angle between the lower limb member 102 and the foot unit 104 is said to be the neutral angle, or the angle of the device in the neutral position. As described in more detail below, when the device detects that the user is maneuvering on an incline and/or decline, then the device may adjust the changing relative position of the foot unit 104 to the lower limb member 102 during the user's gait according to a response angle based on the detected degree of incline and/or decline. In a sense, the device defines an adjusted neutral angle relative to the incline and/or decline. In other words, when the lower limb member 102 is in the vertical position while the foot unit 104 flatly engages an inclined and/or declined surface, then the angle between the lower limb member 102 and the foot unit 104 may be defined as the adjusted neutral angle for the device with respect to the degree of incline and/or decline.
Subsequent adjustments to the ankle angle between the lower limb member 102 and the foot unit 104 may be made relative to this adjusted neutral angle. In some embodiments, the adjustment may occur only during the swing phase, such that during stance, the angle of the ankle between the lower limb member 102 and the foot unit 104 remains substantially constant at the adjusted neutral angle. Alternatively, the adjustment relative to the adjusted neutral angle may occur during both swing and stance phases. As the user leaves the stance phase and the device moves through the air without contact to the ground, the device may be adjusted as described above relative to the adjusted neutral angle (such as described by FIGS. 8 and 11). In other embodiments, the adjustments may also occur during the stance phase, when the foot unit 104 at least partially engages the ground. In some embodiments, for example on an incline, the foot unit 104 may be adjusted relative to the lower limb member 102 so as to dorsiflex at the heel strike and midstance phase and then at toe off may be adjusted to a plantarflexion angle to provide natural push off. In other embodiments, for example on a decline, the foot unit 104 may be adjusted relative to the lower limb member 102 so as to plantarfex at the heel strike phase and then during late stance and toe off may be adjusted to a dorsiflexion angle to aid roll over. It will be appreciated that these adjustments made during stance may also be utilized when walking on level ground. It will be further appreciated that the adjustments described above for inclined surfaces may be used for declined surfaces, and vice versa.
In some embodiments, the sensor module 302 (with reference to FIG. 9) may be configured to determine if the user is walking up an incline or down a decline. This may be accomplished via dynamic analysis that traces the path of the ankle device 304 in the vertical plane. In one embodiment, two acceleration sensors with two axes measure the relative position of the ankle device to ground (gravity) during the stance phase. In one embodiment, these sensors are located on the lower limb member 102 (with respect to FIG. 1). In other embodiments, the sensors may be located in the soles of shoes, in foot covers, on braces, etc. By measuring the gait from heel strike to toe off and how the foot is lifted in swing, the relative angle of incline and decline may be measured. This is because a user's gait exhibits different characteristics when walking on an incline, on a decline, and on level ground. For instance, there is more toe function than heel strike during incline. Additionally, while walking on an incline, the user lifts the foot more than on level ground and shortens the swing of the gait. Other characteristics may be observed for gait patterns while walking on a decline. Based on an understanding of the differences in gait patterns, the measurements of acceleration may be used to determine the surface angle. Sensors capable of determining the surface angle are available from Dynastream Innovations, Inc. (Alberta, Canada). In some embodiments, the surface angle may be filtered by averaging a number of measurements, such as five measurements.
In some embodiments, the surface angle (or the filtered surface angle) may be applied to a formula that yields an ankle response angle. The ankle response angle is the optimal angle by which the lower limb prosthesis 100 (with respect to FIG. 1) should be adjusted for the specified surface angle, thereby configuring the lower limb prosthesis 100 to an adjusted neutral angle. The ankle response angle may be measured with respect to level surface ground. By way of example, if the response angle is 10�, then lower limb prosthesis 100 should be adjusted such that the toe end of the foot member 104 is rotated 10� toward the lower limb member 102, making a 10� angle between the foot member 104 and the ground, assuming that the lower limb member 102 remains fixed with respect to level ground. If the lower limb prosthesis 100 were adjusted 10� in response to the detection of an incline of 10�, then the foot unit 104 of the lower limb prosthesis 100 would completely engage the ground, as illustrated in FIG. 5, for example. If, on the other hand, the response angle is −10�, then lower limb prosthesis 100 should be adjusted such that the toe end of the foot member 104 is rotated 10� away from the lower limb member 102, making a −10� angle between the foot member and the ground, assuming that the lower limb member 102 remains fixed with respect to level ground. If the lower limb prosthesis 100 were adjusted −10� in response to the detection of a decline of 10�, then the foot unit 104 of the lower limb prosthesis 100 would completely engage the ground, as illustrated in FIG. 6, for example.
In one embodiment, the optimal ratio between the surface angle and the response angle for inclined slopes is 1:1. In another embodiment, the optimal ration between the surface angle and the response angle for declined slopes is nonlinear, and in one embodiment is given by the formula: y=−0.017x2+0.1501x, where y is the ankle response angle and x is the detected (and possibly filtered) surface angle. Other embodiments may result in the response angle for declined slopes being between about 10% and 100% of the measured surface angle, more preferably between about 10% and 50%. FIG. 22 illustrates an x-y graph depicting above-defined ratios between surface angles and ankle response angles for inclines and declines, respectively. Thus, if it is detected that the surface angle of the incline is 5�, then the corresponding response angle is also 5�, representing a 1:1 ratio for inclined surfaces. For declined surfaces, however, the ankle response angles correspond to the above-identified formula. Thus, if it is detected that the surface angle of the decline is −10�, then the corresponding response angle is approximately −2.5�. According to the illustrated embodiment, the optimal response angle for declining surfaces is a fraction of the angle of decline. This result is intuitively understood. As a user walks down a decline, the momentum created by the pull of gravity causes the user to roll through the gait pattern, resulting in less need for the foot unit 104 to automatically rotate downward to engage the ground. While walking up inclines, however, it is desirable for the foot unit 104 to automatically engage the ground without forcing the user to roll over the unbent lower limb prosthesis 100.
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No. 60/572,996, filed May 19, 2004, Bisbee III, et al.Referenced byCiting PatentFiling datePublication dateApplicantTitleUS7896927 *Mar 1, 2006Mar 1, 2011�ssur hf.Systems and methods for actuating a prosthetic ankle based on a relaxed positionUS8211042Jan 7, 2008Jul 3, 2012Victom Human Bionics Inc.High torque active mechanism for orthotic and/or prosthetic devicesUS8231687Nov 29, 2005Jul 31, 2012Victhom Human Bionics, Inc.Actuated leg prosthesis for above-knee amputeesUS8435309Jan 7, 2008May 7, 2013Victhom Human BionicsJoint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmissionUS8480760Apr 12, 2011Jul 9, 2013Northwestern UniversityPassive ankle-foot prosthesis and orthosis capable of automatic adaptation to sloped walking surfaces and method of useUS8696764Jan 20, 2012Apr 15, 2014Northwestern UniversityFurther improvements to ankle-foot prosthesis and orthosis capable of automatic adaptation to sloped walking surfacesWO2011163367A1 *Jun 22, 2011Dec 29, 2011Mcgregor Stephen JMethod of monitoring human body movement* Cited by examinerClassifications U.S. Classification623/47, 623/24International ClassificationA61F2/64Cooperative ClassificationA61F2002/5073, A61F2002/6685, A61F2002/701, A61F2002/7645, A61F2/68, A61F2002/7625, A61F2002/705, A61F2/6607, A61F2002/6642, A61F2002/5018, A61F2002/764, A61F2/66, A61F2/72, A61F2002/704, A61F2002/7635European ClassificationA61F2/66, A61F2/68Legal EventsDateCodeEventDescriptionJan 14, 2013FPAYFee paymentYear of fee payment: 4May 31, 2011ASAssignmentFree format text: RELEASE BY SECURED PARTY;ASSIGNOR:ARION BANK HF;REEL/FRAME:026364/0306Owner name: OSSUR HF, ICELANDEffective date: 20110311May 4, 2011ASAssignmentOwner name: ARION BANK HF, NEW YORKEffective date: 20091203Free format text: CHANGE OF NAME;ASSIGNOR:KAUPTHING BANK HF;REEL/FRAME:026227/0139Dec 21, 2010CCCertificate of correctionDec 12, 2008ASAssignmentOwner name: OSSUR HF., ICELANDFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:CLAUSEN, ARINBJORN V.;RAGNARSDOTTIR, HEIDRUN G.;JONSSON,HELGI;REEL/FRAME:021978/0475;SIGNING DATES FROM 20081208 TO 20081211Nov 26, 2008ASAssignmentOwner name: GARMIN LTD., CAYMAN ISLANDSFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:MACDONALD, PAUL;REEL/FRAME:021902/0083Effective date: 20081117Owner name: OSSUR HF., ICELANDFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:GARMIN LTD.;REEL/FRAME:021902/0086Effective date: 20081126Jul 29, 2008ASAssignmentOwner name: KAUPTHING BANK HF, NEW YORKFree format text: SECURITY AGREEMENT;ASSIGNOR:OSSUR HF;REEL/FRAME:021450/0920Effective date: 20080630Owner name: KAUPTHING BANK HF,NEW YORKFree format text: SECURITY AGREEMENT;ASSIGNOR:OSSUR HF;US-ASSIGNMENT DATABASE UPDATED:20100427;REEL/FRAME:21450/920RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google


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This comedy drama from Judd Apatow and Paul Feig launched the careers of Jason Segel, Seth Rogen and more – and every episode is a shining gem
Fri 7 Oct 2016 05.02 EDT Last modified on Tue 19 Dec 2017 16.00 EST
Busy Philipps as Kim Kelly and James Franco as Daniel Desario in Freaks and Geeks. Photograph: NBC/NBCU Photo Bank via Getty Images
What is it? The single best show ever made about being on the outside of the window, looking in, little realising your side of the window totally wins.
Why you’ll love it: Imagine if your school days really were the best days of your life. How low are your expectations that things will pick up in the future if those days of rejection, identity confusion and communal showering were your best bits? Freaks and Geeks is for those of us who wouldn’t go back there if you paid us. If you didn’t fit in, this exquisitely lovely 18-episode portrait of the 1980s American high-school experience will push every button on your Casio scientific calculator. And it will spell 55378008 (BOOBLESS).
It was cancelled part-way through its first season, saved only by a vociferous fan campaign that ensured broadcast of the outstanding episodes, which had already been completed. See, even the show itself is the unpopular kid in the stairwell of life, misunderstood by all but a few people and insisting on wearing its cardigan pulled down over its hands.
Executive producer Judd Apatow and creator Paul Feig went on to dominate the Hollywood comedy market with films including Knocked Up and Bridesmaids, but nothing they have done since Freaks and Geeks even begins to equal its delicate brilliance.
The opening shot of episode one pans down from a jock and his cheerleader girlfriend snogging on the bleachers to the ones we’re really interested in: the unpopulars, skulking underneath the benches, knowing their place in the pecking order. The cast list reads like a roll-call of Before They Were Famous too. Linda Cardellini is Lindsay Weir (you might know her from ER and Mad Men), a good-hearted former mathlete, sullen yet principled, struggling with a burgeoning misfit identity, misunderstood by her wonderfully benign parents.
(L-r) Martin Starr, John Francis Daley and Samm Levine in Freaks and Geeks Photograph: NBCUPHOTOBANK/Rex Features
Her fellow “freaks” include James Franco as the swaggering but decent Daniel Desario, Seth Rogen as simply adorable lunk Ken Miller, Busy Philipps as the initially snippy Kim Kelly and Jason Segel as the musically frustrated Nick Andopolis. Lindsay’s equally brainy younger brother, Sam (John Francis Daley), knocks around with a most supreme bunch of geeks including the sublime Samm Levine as Neal Schweiber. Like a neurotic bank manager in kids’ clothes.
Priya Elan signs up for class with writer of Freaks And Geeks, Gabe Sachs
Every performance perfectly captures a facet of the frustration of youth, and the nicely judged adults are seen through that gauze of youthful exasperation. My favourite character is a straight tie between guidance counselor Jeff Rosso (David Gruber Allen), an ex-hippy treading that difficult line between authority figure and friend, and the majestic Martin Starr as geek czar Bill Haverchuck. It was his thumbnail sketch for the wondrous Gilfoyle, the character he went on to play in HBO’s Silicon Valley. If the geeks worshipped a god, it would have Martin Starr’s face.
Above all, it is a show made with purest love and affection for the ones who couldn’t get the hang of high school. It’s not uniquely American or preoccupied with homecomings and proms. It just allows the small, everyday horrors of growing up to play out with minimum intervention and it’s beautiful.
Where: UK Netflix.
Stand-out episode: Every one a shining gem, but The Little Things (ep 17) is a masterclass of understated acting and writing with an intersex subplot and a visit from Vice-President George Bush.
If you liked Freaks and Geeks, watch: Undeclared (Amazon Prime), My So Called Life (DVD).

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