US 12,440,362 B2
Differential and variable stiffness orthosis design with adjustment methods, monitoring and intelligence
Zachary F Lerner, Flagstaff, AZ (US); Emmanuella Tagoe, Flagstaff, AZ (US); and Chancelor Cuddeback, Flagstaff, AZ (US)
Assigned to ARIZONA BOARD OF REGENTS ON BEHALF OF NORTHERN ARIZONA UNIVERSITY, Flagstaff, AZ (US)
Filed by Arizona Board of Regents on Behalf of Northern Arizona University, Flagstaff, AZ (US)
Filed on Aug. 11, 2023, as Appl. No. 18/233,236.
Application 18/233,236 is a continuation in part of application No. 18/095,940, filed on Jan. 11, 2023, granted, now 12,127,963.
Application 18/095,940 is a continuation of application No. 17/515,300, filed on Oct. 29, 2021, granted, now 12,133,811.
Claims priority of provisional application 63/215,336, filed on Jun. 25, 2021.
Claims priority of provisional application 63/107,275, filed on Oct. 29, 2020.
Prior Publication US 2023/0390094 A1, Dec. 7, 2023
Int. Cl. A61F 5/01 (2006.01)
CPC A61F 5/0127 (2013.01) [A61F 2005/0155 (2013.01); A61F 2005/0167 (2013.01); A61F 2005/0179 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An exoskeleton device, comprising:
a shank and a footplate rotatably coupled to the shank via a rotational bearing;
an angle sensor configured to measure an angle between the shank and the footplate and the velocity of the angular change between the shank and the footplate;
a pressure sensor at the footplate configured to measure pressure exerted by a user's foot;
a feedback modality; and
a controller including a microprocessor in communication with the angle sensor and the pressure sensor, the controller configured to compute an estimate of joint ankle power developed by the user during stance phase while walking, and to activate the feedback modality based on a comparison of the estimate of peak joint ankle power and a predetermined metric; wherein the controller is configured to compute the estimate of joint ankle power by estimating peak joint ankle power by measuring a series of products of user ankle angular velocity and user foot pressure taken during stance phase while the user walks and selecting a peak product of the series of products.