TEMPE, AZ, United States
TEMPE, AZ, United States

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A human assistance device has a rate gyro, first accelerometer, and second accelerometer disposed on a mobile body for sensing a physical state of the mobile body to provide a physical state measurement. The human assistance device can be a prosthetic, orthotic, and robotic device. An ATAN 2 function is performed on an output of the first accelerometer and an output of the second accelerometer. An output of the rate gyro and an output of the ATAN2 function is filtered to provide a filtered physical state measurement. The filtered physical state measurement is applied to a reference function to generate a reference command to control a non-gait motion of an actuator in the human assistance device. The reference command controls the human assistance device, for example to provide a shifting foot position while seated, with a natural, biological motion, without an artificial or mechanical appearance.


Patent
Springactive, Inc. | Date: 2016-12-15

A parallel kinematically redundant device includes a base body portion and a movable portion. The movable portion includes first, second, and third joints. A first actuator is coupled to the first joint of the movable portion and to the base body portion. A second actuator is coupled in parallel with the first actuator between the second joint of the movable portion and the base body portion. A linking member is rotationally coupled to the third joint of the movable portion to provide an output for the first and second actuators. A housing is coupled to the base body portion and fits onto a user. A prosthetic joint device includes a base portion and a movable portion. An actuator is rotationally coupled to the movable portion and base portion. A compliant element is coupled in parallel with the actuator between the movable portion and base portion.


Patent
Springactive, Inc. | Date: 2016-02-09

A prosthetic joint device includes a foot portion and a main body pivotally coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch to lock and unlock the first clutch and engage and disengage the first compliant member. A control system is coupled to the actuator to control the actuator based on a gait activity. The first clutch is locked to engage the first compliant member. A second compliant member is coupled to the main body and foot portion. A sensor is coupled to the prosthetic joint device to measure a physical state of the prosthetic joint device. The engagement and disengagement of the first compliant member is timed based on the physical state of the prosthetic joint device.


Patent
Springactive, Inc. | Date: 2016-02-09

A prosthetic joint device includes a foot portion and a main body pivotally coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch to lock and unlock the first clutch and engage and disengage the first compliant member. A control system is coupled to the actuator to control the actuator based on a gait activity. The first clutch is locked to engage the first compliant member. A second compliant member is coupled to the main body and foot portion. A sensor is coupled to the prosthetic joint device to measure a physical state of the prosthetic joint device. The engagement and disengagement of the first compliant member is timed based on the physical state of the prosthetic joint device.


Patent
Springactive, Inc. | Date: 2015-10-07

A load support device has a first link assembly coupled to a load and a first foot of a user. A first damping element is coupled to the first link assembly. The first damping element includes a double acting piston configured to provide uni-directional damping. A first sensor is disposed on a first limb of the user. A physical characteristic of the first limb is measured with the first sensor. A damping constant of the first damping element is selected based on the physical characteristic of the first limb. A second link assembly is coupled to the load and to a second foot of the user. A second damping element is coupled to the second link assembly between the load and the second foot. The load is alternately supported by the first link assembly and damping element and the second link assembly and damping element throughout a gait cycle.


Grant
Agency: National Science Foundation | Branch: | Program: SBIR | Phase: Phase I | Award Amount: 150.00K | Year: 2015

The broader impact/commercial potential of this project is that its successful completion will lead to greater access to improved, smart prosthetics devices. The proposed work will develop assistive technology for the lower limb amputee population. The majority of the 1.8 million Americans suffering from limb loss have a lower limb amputation. Living with a lower limb loss results in severe long term health challenges; hip and knee replacement surgeries, Osteoarthritis, Osteoporosis, reduced activity levels, increased weight gain, socket discomfort, and chronic lower back pain. The proposed system promises to improve health by supporting a more active lifestyle through increased walking comfort and efficiency. This has significant societal impact on the growing amputee population through increased community and family involvement. Because of the many possibilities to control the proposed research device, human mobility scientists will be able to study amputee walking compensations by tuning different parameters on the system. This new tool will likely lead to new concepts on how to further reduce the long term consequences of amputee walking. This research is targeted for functional level K2 and above amputees. Improving functionality without increasing the cost over similar systems means the market potential and societal impact will be substantial. This Small Business Innovation Research (SBIR) Phase I project is focused on the support of individuals that have lost a lower limb. Living with the loss of a lower limb has severe effects on an individual?s mobility, including; reduced walking speed, increased reliance on the healthy limb, increased walking asymmetry, difficulty navigating uneven surfaces, and reduced stability with increased risk of falling. Proper ankle angle adaptation to a sloped surface is important for amputees, otherwise severe compensations arise in their remaining joints. The research objective of the proposed work is to develop a prosthetic ankle that adapts its equilibrium position to a slope while dynamically optimizing its torsional stiffness. These features will ensure a natural loading response on the amputated limb while providing the most possible assistance from a passive system. A unique actuator design that can simultaneously change its length and stiffness properties will be incorporated into an ankle prosthesis. This prosthesis will be microprocessor controlled, and while not adding positive energy to a step, it will optimize angle and stiffness parameters at every point within the step. The result of such a device would be improved walking stability, comfort, and efficiency for a lower limb amputee.


Grant
Agency: NSF | Branch: Standard Grant | Program: | Phase: | Award Amount: 150.00K | Year: 2015

The broader impact/commercial potential of this project is that its successful completion will lead to greater access to improved, smart prosthetics devices. The proposed work will develop assistive technology for the lower limb amputee population. The majority of the 1.8 million Americans suffering from limb loss have a lower limb amputation. Living with a lower limb loss results in severe long term health challenges; hip and knee replacement surgeries, Osteoarthritis, Osteoporosis, reduced activity levels, increased weight gain, socket discomfort, and chronic lower back pain. The proposed system promises to improve health by supporting a more active lifestyle through increased walking comfort and efficiency. This has significant societal impact on the growing amputee population through increased community and family involvement. Because of the many possibilities to control the proposed research device, human mobility scientists will be able to study amputee walking compensations by tuning different parameters on the system. This new tool will likely lead to new concepts on how to further reduce the long term consequences of amputee walking. This research is targeted for functional level K2 and above amputees. Improving functionality without increasing the cost over similar systems means the market potential and societal impact will be substantial.

This Small Business Innovation Research (SBIR) Phase I project is focused on the support of individuals that have lost a lower limb. Living with the loss of a lower limb has severe effects on an individual?s mobility, including; reduced walking speed, increased reliance on the healthy limb, increased walking asymmetry, difficulty navigating uneven surfaces, and reduced stability with increased risk of falling. Proper ankle angle adaptation to a sloped surface is important for amputees, otherwise severe compensations arise in their remaining joints. The research objective of the proposed work is to develop a prosthetic ankle that adapts its equilibrium position to a slope while dynamically optimizing its torsional stiffness. These features will ensure a natural loading response on the amputated limb while providing the most possible assistance from a passive system. A unique actuator design that can simultaneously change its length and stiffness properties will be incorporated into an ankle prosthesis. This prosthesis will be microprocessor controlled, and while not adding positive energy to a step, it will optimize angle and stiffness parameters at every point within the step. The result of such a device would be improved walking stability, comfort, and efficiency for a lower limb amputee.


Patent
Springactive, Inc. | Date: 2015-10-26

A joint actuation device for adding torque to a joint of a user includes an actuation system having an actuator and a spring. A lever is configured to couple to the users leg and to the actuation system. The lever configured to rotate at a device joint with respect to the actuation system. A first sensor measures a position of the device joint. A second sensor measures deflection in a spring. The actuator is positioned based on the position of the device joint and deflection in the spring. The actuator is configured to deflect the spring to apply a torque the device joint. The device joint aligns with the users joint to add a torque to the users joint during a gait activity. The actuator disengages the spring during a non-gait activity. The lever is configured to disengage from the actuator when the device joint exceeds a predetermined angle.


A prosthetic device has a movable body and foot member with an end effector for contacting an external surface. A base body is coupled to a first joint of the foot member. A compliant linking member is disposed between a second joint of the foot member and a first joint of the moveable body. The compliant linking member can be a spring or flexible beam. A passive linking member is coupled between a third joint of the foot member and a third joint of the moveable body. An actuator is disposed between the base body and the second joint of the movable body. The actuator can be a motor with an extension member. The compliant linking member extends during roll-over phase. The actuator acts to assist with the extension of the compliant linking member during roll-over phase to aid with push-off phase in the gait cycle.


Patent
Springactive, Inc. | Date: 2014-03-15

A load support device includes a first link coupled to a load. A second link is configured to couple to footwear. The second link is pivotally coupled to the first link. The first and second link comprise a link assembly. A first compliant member is disposed between the load and the second link. The first compliant member includes a tension spring or a compression spring. The link assembly further includes a tension cable coupled to the first compliant member. A first actuator is coupled to the first compliant member to control a stiffness of the first compliant member. A sensor is configured to couple to a user to measure a physical state of the user. A control system controls the first actuator based on a gait activity. The first actuator is actuated based on the physical state of the user. The load support device is tuned based on the load.

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