Systems and methods for synchronizing the kinematics of uncoupled, dissimilar rotational systems

Patent metadata

Field	Value
Publication number	US-9990333-B1
Application number	US-201514724458-A
Country	US
Kind code	B1
Filing date	May 28, 2015
Priority date	May 28, 2014
Publication date	Jun 5, 2018
Grant date	Jun 5, 2018

Abstract

In one embodiment, a system or method for kinematically synchronizing uncoupled, dissimilar rotational systems pertain to modeling a first rotational system using an equation of motion to obtain a first system model, modeling a second rotational system that is physically dissimilar to the first rotational system using the equation of motion to obtain a second system model, and matching kinematic matching coefficients of the equations of motion for the first and second system models.

First claim

The invention claimed is:

1. A method for designing and constructing a limb prosthesis for an individual having an intact limb and an opposite partial limb, the method comprising:
modeling the intact limb as a first rotational system using an equation of motion to obtain a first system model that represents the intact limb;
modeling an opposite limb that comprises the partial limb and a limb prosthesis as a second rotational system that is physically dissimilar to the first rotational system using the equation of motion to obtain a second system model that represents the opposite limb;
matching kinematic matching coefficients of the equations of motion for the first and second system models so they have the same motions to obtain mass and length parameters for the limb prosthesis; and
constructing a physical limb prosthesis for the partial limb that has the obtained mass and length parameters, wherein, when the limb prosthesis is worn by the individual, the opposite limb has kinematics that match the kinematics of the intact limb.

2. The method of claim 1 , wherein the equation of motion is defined as:
[ M]{umlaut over (Θ)}+[N]{dot over (Θ)} 2 +[G]=[T]
wherein [M], [N], [G], and [T] are inertial, damped, gravitational, and forced coefficient matrices, respectively, that contain the kinematic matching coefficients and {umlaut over (Θ)} is an angular acceleration vector and {dot over (Θ)} 2 is an angular velocity vector.

3. The method of claim 2 , wherein [M] is an inertia matrix defined as

[
M
]

sym

n
⋓

,

n
⋓

=

[

M

1
,
1

M

1
,
2

⁢

cos
⁡

(

θ
1

-

θ
2

)

…

M

1
,
j

⁢

cos
⁡

(

θ
1

-

θ
j

)

M

1
,
2

⁢

cos
⁡

(

θ
1

-

θ
2

)

M

2
,
2

⋮

⋮

⋱

M

i
-
1

,
j

⁢

cos
⁡

(

θ

i
-
1

-

θ
j

)

M

1
,
j

⁢

cos
⁡

(

θ
1

Assignees

• Reed Kyle B
• Handzic Ismet
• Univ South Florida

Inventors

• Reed Kyle B
• Handzic Ismet

Classifications

• G06F17/10 Primary

  Complex mathematical operations {(function generation by table look-up G06F1/03; evaluation of elementary functions by calculation G06F7/544)} · CPC title

• A61F2/60 Primary

  Artificial legs or feet or parts thereof · CPC title

• D06F37/225

  Damping vibrations by displacing, supplying or ejecting a material, e.g. liquid, into or from counterbalancing pockets · CPC title

• A61F2002/5047

  using mathematical models (A61F2002/505 takes precedence) · CPC title

• A61F2/5046

  for designing or making customized prostheses, e.g. using templates, finite-element analysis or CAD-CAM techniques · CPC title