US 12,201,539 B2
Hybrid terrain-adaptive lower-extremity systems
Richard J. Casler, Jr., Cambridge, MA (US); and Hugh M. Herr, Somerville, MA (US)
Assigned to Otto Bock Healthcare LP, Austin, TX (US)
Filed by Otto Bock Healthcare LP, Austin, TX (US)
Filed on Nov. 23, 2022, as Appl. No. 18/058,479.
Application 18/058,479 is a continuation of application No. 16/236,807, filed on Dec. 31, 2018, granted, now 11,529,247.
Application 16/236,807 is a continuation of application No. 15/364,311, filed on Nov. 30, 2016, granted, now 10,213,323, issued on Feb. 26, 2019.
Application 15/364,311 is a continuation of application No. 12/551,845, filed on Sep. 1, 2009, granted, now 9,554,922, issued on Jan. 31, 2017.
Claims priority of provisional application 61/231,754, filed on Aug. 6, 2009.
Claims priority of provisional application 61/161,999, filed on Mar. 20, 2009.
Claims priority of provisional application 61/094,125, filed on Sep. 4, 2008.
Prior Publication US 2023/0165693 A1, Jun. 1, 2023
Int. Cl. A61F 2/70 (2006.01); A61F 2/60 (2006.01); A61F 2/66 (2006.01); A61F 2/72 (2006.01); A61F 5/01 (2006.01); A61H 1/02 (2006.01); A61H 3/00 (2006.01); B25J 9/00 (2006.01); G01L 5/00 (2006.01); G01P 21/00 (2006.01); H02K 7/06 (2006.01); A61F 2/50 (2006.01); A61F 2/68 (2006.01); A61F 2/76 (2006.01); H02K 7/116 (2006.01)
CPC A61F 2/70 (2013.01) [A61F 2/60 (2013.01); A61F 2/6607 (2013.01); A61F 2/72 (2013.01); A61H 1/0266 (2013.01); A61H 3/00 (2013.01); B25J 9/0006 (2013.01); G01L 5/0028 (2013.01); G01L 5/0061 (2013.01); G01P 21/00 (2013.01); H02K 7/06 (2013.01); A61F 2002/5003 (2013.01); A61F 2002/5007 (2013.01); A61F 2002/5018 (2013.01); A61F 2002/503 (2013.01); A61F 2002/5033 (2013.01); A61F 2002/5079 (2013.01); A61F 2002/5087 (2013.01); A61F 2002/6614 (2013.01); A61F 2002/6836 (2013.01); A61F 2002/701 (2013.01); A61F 2002/704 (2013.01); A61F 2002/7625 (2013.01); A61F 2002/763 (2013.01); A61F 2002/7635 (2013.01); A61F 2002/764 (2013.01); A61F 2002/7645 (2013.01); A61F 2002/7665 (2013.01); A61F 2005/0155 (2013.01); A61F 2005/0169 (2013.01); A61H 2003/001 (2013.01); H02K 7/116 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method for determining a change in traction between a foot member of an orthotic, prosthetic or exoskeleton apparatus and an underlying surface, the apparatus comprising a foot member, a lower leg member, an ankle joint for connecting the foot member to the lower leg member and a first actuator for applying torque to the ankle joint to rotate the foot member with respect to the lower leg member, the method comprising:
calculating ground reaction force and the zero moment pivot imparted by an underlying surface onto the foot member based on an inertial pose of the lower leg member, the torque applied to the lower leg member by the actuator, axial force applied to the lower leg member, and an angle between the foot member and lower leg member; and
calculating velocity of the foot member zero moment pivot based on the inertial pose of the lower leg member, the torque applied to the lower leg member by the actuator, the axial force applied to the lower leg member, and the angle between the foot member and lower leg member.