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公开(公告)号：US20250107908A1
公开(公告)日：2025-04-03
申请号：US18898303
申请日：2024-09-26
Applicant: University of Utah Research Foundation
Inventor： Tommaso LENZI , Suzi CREVELING , Lukas R. GABERT
Abstract: Disclosed are prosthetic systems comprising a powered knee upper leg prosthesis and a volitional controller configured to provide control of the prosthesis to the user. The prosthetic system may be configured to enable a user to climb a set of stairs. The prosthetic system may be activated by the activation of an EMG signal source, such as the biceps femoris muscle of the upper leg. The volitional controller of the prosthetic system may be further configured to receive a ground state signal and/or an IMU signal to determine a target knee torque for operating the powered knee of the prosthesis.
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公开(公告)号：US20250107907A1
公开(公告)日：2025-04-03
申请号：US18898315
申请日：2024-09-26
Applicant: University of Utah Research Foundation
Inventor： Tommaso LENZI , Lukas R. GABERT , Liam SULLIVAN , Marissa Ann COWAN
Abstract: Disclosed are embodiments of a volitional controller and prosthetic leg system comprising a volitional controller and a powered prosthetic leg. The volitional controller may be configured to control a powered knee joint and a powered ankle joint to enable a user to walk at different speeds and inclines. The orientation of the components of the powered prosthetic leg may be monitored continuously to enable the system to adapt to changes in the duration of the user's gait. The volitional controller may be configured to determine a target knee torque and a target ankle torque that may be based on the global shank orientation, a prosthetic knee velocity, and a prosthetic ankle velocity.
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Patent Agency Ranking
公开(公告)号：US20240180723A1
公开(公告)日：2024-06-06
申请号：US18285146
申请日：2022-03-29
Applicant: UNIVERSITY OF UTAH RESEARCH FOUNDATION
Inventor： Tommaso LENZI , Lukas R. GABERT , Minh TRAN
CPC classification number: A61F2/6607 , A61F2002/5043 , A61F2002/5072 , A61F2002/6621 , A61F2002/6836 , A61F2002/701 , A61F2002/7635
Abstract: Disclosed herein is a robotic ankle foot prosthesis that replicates the key biomechanical functions of the biological ankle and toe joints while matching the weight, size, and battery life of passive microprocessor-controlled prostheses. A single actuator powers the ankle and toe joints. The mechanism maximizes the mechanical energy regeneration during walking while imitating the physiological features of energy injection by way of the ankle joint and energy dissipation by way of the toe joint.
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公开(公告)号：US20250127635A1
公开(公告)日：2025-04-24
申请号：US18991192
申请日：2024-12-20
Applicant: UNIVERSITY OF UTAH RESEARCH FOUNDATION
Inventor： Tommaso LENZI , Lukas R. GABERT , Minh TRAN
Abstract: Disclosed herein is a robotic ankle foot prosthesis that replicates the key biomechanical functions of the biological ankle and toe joints while matching the weight, size, and battery life of passive microprocessor-controlled prostheses. A single actuator powers the ankle and toe joints. The mechanism maximizes the mechanical energy regeneration during walking while imitating the physiological features of energy injection by way of the ankle joint and energy dissipation by way of the toe joint.
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公开(公告)号：US20250107905A1
公开(公告)日：2025-04-03
申请号：US18898320
申请日：2024-09-26
Applicant: University of Utah Research Foundation
Inventor： Tommaso LENZI , Lukas R. GABERT , Liam SULLIVAN , Marissa Ann COWAN
Abstract: Disclosed are prosthetic systems comprising a powered knee prosthesis and a volitional controller configured to provide control of the prosthesis to the user. The prosthetic system may be configured to enable a user to walk on smooth and/or uneven terrain and to ascend and/or descend stairs. The volitional controller may be configured in a contact state when the prosthesis is in contact with a ground surface and a no contact state when the prosthesis is lifted from the ground surface. When in the contact state, the controller may output a knee torque signal for controlling the powered knee of the prosthesis. The knee torque signal may be based on a target knee torque determined by the knee orientation and the torque measured at the ankle of a prosthetic foot. When in the no contact state, the controller may output a knee torque signal based on a desired knee position.
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公开(公告)号：US20240398590A1
公开(公告)日：2024-12-05
申请号：US18797168
申请日：2024-08-07
Applicant: UNIVERSITY OF UTAH RESEARCH FOUNDATION
Inventor： Tommaso LENZI , Lukas R. GABERT , Connelly Ray BUCHANAN , Samuel WESTGARD , Minh TRAN
Abstract: A semi-powered foot and ankle prosthesis (100) has a foot member (128) coupled to the ankle frame (112) and movable with respect to the ankle frame (112). A linear actuator (144) is coupled to and between the ankle frame (112) and the foot member (128) to move the foot member (128) with respect to the ankle frame (112). The linear actuator (144) has a drive motor (150). A locking mechanism (104) selectively engages the drive motor (150) to selectively lock movement of the drive motor (150) to resist a force on the foot member (128) from backdriving the linear actuator (144).
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公开(公告)号：US20240359313A1
公开(公告)日：2024-10-31
申请号：US18646639
申请日：2024-04-25
Applicant: University of Utah Research Foundation
Inventor： Sergei V. SARKISIAN , Tommaso LENZI , Lukas R. GABERT , Brendon M. ORTOLANO
IPC: B25J9/00
CPC classification number: B25J9/0006 , A61H1/0266 , A61H3/00
Abstract: Disclosed is a lightweight powered ankle exoskeleton with integrated series-elastic actuation capable of providing high torque and power densities while maintaining a compact and lightweight profile. The exoskeleton includes: a frame configured to be worn adjacent a lower leg of a user; a power transmission assembly integrated with the frame and configured to deliver torque to a crank member to rotate the crank member about an ankle joint; and a foot/shoe interface coupled to the crank member and configured to interface with a foot or shoe of the user and to transmit torque generated at the ankle joint to the foot or shoe of the user.
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