Method for controlling an orthopedic joint

Patent metadata

Field	Value
Publication number	US-9877849-B2
Application number	US-74130308-A
Country	US
Kind code	B2
Filing date	Nov 5, 2008
Priority date	Nov 7, 2007
Publication date	Jan 30, 2018
Grant date	Jan 30, 2018

Abstract

The invention relates to a method for controlling an orthopedic joint of a lower extremity in at least one degree of freedom by means of an adjustable actuator for adjusting an orthopedic apparatus to walking situations that differ from walking on a plane. Said orthopedic apparatus comprises top connecting means to a limb and an orthopedic element that is hingedly arranged distal to the connecting means. The method encompasses the following steps: —several parameters of the orthopedic apparatus are sensed by means of sensors; —the sensed parameters are compared with criteria that have been established based on several parameters and/or parameter curves and are stored in a computer unit; —a criterion is selected that is suitable on the basis of the determined parameters and/or parameter curves; and —resistances to movements, extents of movements, driving forces, and/or the progresses thereof are adjusted in accordance with the selected criterion in order to control special functions that differ from walking on a plane.

First claim

We claim:

1. A method for controlling a passive prosthetic knee joint in at least one degree of freedom using an adjustable actuator with which a prosthesis, which comprises an upper attachment member configured to attach to a limb and a lower attachment member arranged in an articulated manner distally of the upper attachment member, is adapted to walking situations that deviate from walking on a planar surface, by changing damping in a flexion direction or an extension direction of the passive prosthetic knee joint, said method comprising the following steps:
detecting several parameters of the prosthesis via sensors;
comparing the detected parameters with criteria that have been established on the basis of at least one of parameters and parameter profiles, the criteria being stored in a computer unit;
selecting a criterion that is suitable on the basis of at least one of the detected parameters and parameter profiles;
adapting at least one of a damping force or a damping profile in accordance with the selected criterion, in order to automatically control the passive prosthetic knee joint to adapt to special functions that deviate from walking on a planar surface;
adjusting resistance in the flexion direction or extension direction of the passive prosthetic knee joint based on an expected walking pattern or an expected walking situation;
wherein the special functions consist of climbing over an obstacle or climbing stairs, and wherein automatically controlling comprises increasing an extension damping in the passive prosthetic knee joint in a set-down and hip-straightening phase during the special functions to a level above an extension damping in the passive prosthetic knee joint during a swing phase when walking on a planar surface.

2. The method as claimed in claim 1 , wherein the parameter used is at least one of the joint angle and the profile of a change in the joint angle.

3. The method as claimed in claim 1 , wherein the parameter used is at least one of the axial force and the profile of the axial force.

4. The method as claimed in claim 1 , wherein the parameter used is at least one of the joint torque and a profile of a change in the joint torque.

5. The method as claimed in claim 1 , wherein at least one of a vertical movement and a profile of a vertical movement is used as the parameter.

6. The method as claimed in claim 1 , wherein at least one of a horizontal movement and a profile of a horizontal movement is used as the parameter.

7. The method as claimed in claim 1 , wherein at least one of a tilt angle of part of the prosthesis in space and a profile of a change in the tilt angle of part of the prosthesis is used as the parameter.

8. The method as claimed in claim 1 , wherein at least two parameters or parameter profiles are combined in one criterion.

9. The method as claimed in claim 1 , wherein several criteria can initiate a special function.

10. The method as claimed in claim 1 , wherein, in the special function, at least one of a flexion damping and the extension damping in the set-down phase is increased to a maximum value.

11. The method as claimed in claim 1 , wherein, in the special function, at least one of a flexion damping and the extension damping in the set-down and hip-straightening phase is maintained constant until straightening of the hip is complete.

12. The method as claimed in claim 1 , wherein the special function is initiated when an axial force acting on a lower leg drops and when the passive prosthetic knee joint is straightened or being straightened, and a flexion damping is reduced in the special function.

13. The method as claimed in claim 12 , wherein it additionally takes into account the axial force dropping below a fixed level.

14. The method as claimed in claim 1 , wherein the special function is initiated when a lower leg is inclined rearward, the passive prosthetic knee joint is straightened and a knee torque is below a fixed level, and a flexion damping is reduced in the special function.

15. The method as claimed in claim 1 , wherein the special function is initiated when there is an upward vertical acceleration and when an axial force is below a fixed level, and a flexion damping is reduced in the special function.

16. The method as claimed in claim 1 , wherein the special function is initiated when there is a rearward horizontal acceleration and when an axial force is below a fixed level, and a flexion damping is reduced in the special function.

17. The method as claimed in claim 1 , wherein the damping is adjusted during at least one of a lift phase and the set-down phase.

18. The method as claimed in claim 1 , wherein the damping is adjusted during a stance phase or during a swing phase.

19. The method as claimed in claim 1 , wherein a low-torque lift of the distally arranged lower attachment member is detected via a force sensor or torque sensor.

20. The method as claimed in claim 1 , wherein a low-torque lift is detected by measurement of a vertical acceleration of the distally arranged lower attachment member and by detection of a bending in the passive prosthetic knee joint.

21. The method as claimed in claim 1 , wherein, after a flexion damping has been reduced, a free extension is set with time control.

22. The method as claimed in claim 21 , wherein the time control is effected mechanically or electronically.

23. The method as claimed in claim 1 , wherein the parameters are determined during walking.

24. A method for controlling a passive prosthetic knee joint in at least one degree of freedom using an adjustable actuator with which a prosthesis, which comprises an upper attachment member configured to attach to a limb and a lower attachment member arranged in an articulated manner distally of the upper attachment member, is adapted to walking situations that deviate from walking on a planar surface, by changing damping in a flexion direction or an extension direction of the passive prosthetic knee joint, said method comprising the following steps:
detecting several parameters of the prosthesis via sensors;
comparing the detected parameters with criteria that have been established on the basis of at least one of parameters and parameter profiles and are stored in a computer unit;
selecting a criterion that is suitable on the basis of the at least one of detected parameters and parameter profiles;
adapting at least one of a damping force or a damping profile in accordance with the selected criterion, in order to automatically control the passive prosthetic knee joint to adapt to special functions that deviate from walking on a planar surface;
adjusting resistance in the flexion direction or extension direction of the passive prosthetic knee joint based at least in part on the adapting, wherein adjusting resistance is based part on feedback from the sensors;
wherein automatically controlling comprises adapting the movement resistances to provide an increased extension damping in the passive prosthetic knee joint in a set-down phase and in a hip-straightening phase, the increased extension damping being maintained constant until straightening of the hip is complete, and the special functions consist of climbing over an obstacle or climbing stairs.

25. A method for controlling a passive prosthetic knee joint in at least one degree of freedom using an adjustable actuator with which a prosthesis, which comprises an upper attachment member configured to att

Assignees

• Pusch Martin
• Boiten Herman
• Zarling Sven
• Bock Healthcare Gmbh

Inventors

• Pusch Martin
• Boiten Herman
• Zarling Sven

Classifications

• A61F2/70

  electrical · CPC title

• A61F2/60 Primary

  Artificial legs or feet or parts thereof · CPC title

• A61F2002/5035

  for adjusting volume flow · CPC title

• A61F2002/5006

  Dampers, e.g. hydraulic damper · CPC title

• A61F2002/5033

  for adjusting damping · CPC title