US 12,290,455 B2
Semi-active ankle and foot prosthesis powered by a lockable series-elastic actuator
Tommaso Lenzi, Salt Lake City, UT (US); Lukas R. Gabert, Salt Lake City, UT (US); Connelly Ray Buchanan, Salt Lake City, UT (US); Samuel Westgard, Salt Lake City, UT (US); and Minh Tran, Salt Lake City, UT (US)
Assigned to University of Utah Research Foundation, Salt Lake City, UT (US)
Filed by UNIVERSITY OF UTAH RESEARCH FOUNDATION, Salt Lake City, UT (US)
Filed on Aug. 7, 2024, as Appl. No. 18/797,168.
Application 18/797,168 is a continuation of application No. PCT/US2023/017845, filed on Apr. 7, 2023.
Claims priority of provisional application 63/328,646, filed on Apr. 7, 2022.
Prior Publication US 2024/0398590 A1, Dec. 5, 2024
Int. Cl. A61F 2/66 (2006.01); A61F 2/70 (2006.01); A61F 2/50 (2006.01); A61F 2/68 (2006.01)
CPC A61F 2/6607 (2013.01) [A61F 2002/5007 (2013.01); A61F 2002/5033 (2013.01); A61F 2002/6614 (2013.01); A61F 2002/6621 (2013.01); A61F 2002/6818 (2013.01); A61F 2002/6836 (2013.01); A61F 2002/6854 (2013.01); A61F 2002/701 (2013.01)] 27 Claims
OG exemplary drawing
 
21. A semi-powered foot and ankle prosthesis, comprising:
an ankle frame configured to be coupled to a connector;
a foot member coupled to the ankle frame and movable with respect to the frame;
a linear actuator coupled to and between the ankle frame and the foot member, and configured to move the foot member with respect to the ankle frame, and the linear actuator having a drive motor; and
a locking mechanism selectively engaging the drive motor and configured to selectively lock movement of the drive motor to resist a force on the foot member from backdriving the linear actuator, the locking mechanism comprising:
a rotor coupled to a drive shaft of the motor;
at least one brake pad positioned proximate the rotor and selectively abutting the rotor;
a cam engaging the at least one brake pad and having a lobe with a greater radial length configured to press the brake pad towards the rotor, and a heel with a lesser radial length configured to release the brake pad from the rotor; and
a brake motor coupled to and selectively turning the cam.