公开(公告)号：US20240016629A1

公开(公告)日：2024-01-18

申请号：US18032924

申请日：2021-10-20

Applicant: UNIVERSITY OF UTAH RESEARCH FOUNDATION

Inventor： Tommaso LENZI ,  Sarah HOOD ,  Lukas GABERT

IPC: A61F2/64 ,  A61F2/66 ,  G16H40/63

CPC classification number: A61F2/64 ,  A61F2/6607 ,  G16H40/63 ,  A61F2002/704

Abstract: A powered joint system that is configured to adaptively control powered joint movement during movement tasks includes a knee joint, one or more sensors, and a controller. The one or more sensors are configured to capture sensor data associated with a residual limb of a user. The controller comprises one or more processors and one or more hardware storage devices storing instructions that are executable by the one or more processors to configure the controller to perform various acts, including to: obtain a thigh orientation term, a thigh angular velocity term, and a thigh vertical acceleration term based on the sensor data; determine a target knee angle based on the thigh orientation term, the thigh angular velocity term, and the thigh vertical acceleration term; and output a signal configured to cause the knee joint to move toward the respective target joint angles.