Impedance simulating motion controller for orthotic and prosthetic applications

{
  "publication_number": "US11185429B2",
  "country": "US",
  "kind": "B2",
  "title": "Impedance simulating motion controller for orthotic and prosthetic applications",
  "abstract": "An impedance simulating motion controller for orthotic and prosthetic devices includes an equilibrium trajectory generator that receives locomotion data regarding the locomotion of a user, a dynamic trajectory compensator that generates one or more control parameters based on the locomotion data and one or more physiological characteristics of the user, and a dynamic gain tuner that adjusts the one or more control parameters based on a gain scaling factor that is calculated using a measured deflection point and an expected deflection point. The adjusted control parameters are used to control movement of an actuator of an orthotic or prosthetic device.",
  "claims": [
    "1. A non-transitory computer-readable medium comprising executable instructions that when executed by one or more processors cause the one or more processors to: determine a joint angle of a joint of a motorized prosthetic or orthotic device (POD) during a gait cycle; determine one or more control signals that control a stiffness of one or more actuators of the motorized POD based at least in part on a difference of the determined joint angle from an equilibrium position during stance phase of the gait cycle, wherein the equilibrium position is approximately constant during at least a majority of the stance phase; and cause the one or more control signals to be communicated to the one or more actuators to control the stiffness of the one or more actuators, wherein the stiffness of the one or more actuators causes the measured joint angle to follow a Winter's reference trajectory during the stance phase.",
    "2. The non-transitory computer-readable medium of claim 1, wherein the equilibrium joint angle is determined using a regression line of torque-angle during stance phase of a gait cycle.",
    "3. The non-transitory computer-readable medium of claim 1, wherein the one or more control signals are based at least in part on at least a position set-point, a proportional gain, and a derivative gain.",
    "4. The non-transitory computer-readable medium of claim 1, wherein the one or more control signals are determined based at least in part on at least one of body mass or weight.",
    "5. The non-transitory computer-readable medium of claim 1, wherein the one or more control signals are updated between gait cycles during movement of a user."
  ],
  "description_excerpt": "The present invention relates to an impedance simulating motion controller for orthotic and prosthetic applications.\n\nProsthetic and/or orthotic devices (“PODS”) for restoring or replacing lost lower-limb functions have been available for many years. Until recently, both types of devices were found as purely mechanical linkages making advantageous usage of simple mechanisms in order to preclude knee buckling in level walking stance phase, while still ensuring some form of swing motion during the aerial phase. While this type of device was shown to be fairly efficient in restoring the structural aspects of the lower-limb role in gait, their incapacity to properly sustain the wide variety of lower-limb dynamics associated with the various gait locomotion activities performed on a daily basis appeared as a sufficient limitation to sustain the development of more advanced devices.\n\nWhile significant efforts have been directed towards designing more advanced mechanisms allowing easier adjustment, or more progressive action, through pneumatics and hydraulics, the rapid advances in energy storage and computer technologies soon allowed to extend the realm of capacities associated with typical PODS. Real-time configuration of passive braking devices such as disclosed, for example, in U.S. Pat. No. 5,383,939 and US Patent Application Publication No. 2006/0136072 A1, greatly improved the adaptability of PODS to user gait specificities or to variations of the environment in which the locomotion tasks are performed.",
  "cpc": [
    "A61F 2/70",
    "A61F 2/60",
    "A61F 2002/5038",
    "A61F 2002/701",
    "A61F 2002/704",
    "A61F 2002/7615",
    "A61F 2002/7625",
    "A61F 2002/7635",
    "A61F 2002/764",
    "A61F 5/0102",
    "G05B 15/02"
  ],
  "ipc": [
    "A61F 2/60",
    "A61F 2/68",
    "A61F 2/70",
    "A61F 5/01",
    "G05B 15/02"
  ],
  "assignees": [
    "Victhom Laboratory Inc"
  ],
  "inventors": [
    "David Langlois"
  ],
  "filing_date": "2019-02-15",
  "publication_date": "2021-11-30",
  "grant_date": "2021-11-30",
  "priority_date": "2011-05-03",
  "application_number": "US-201916277087-A",
  "family_id": "47090781",
  "cited_by_count": 4,
  "citations": [
    "US909859A",
    "US1951622A",
    "US2619652A",
    "US2568051A",
    "US2475373A",
    "US2859451A",
    "US3022400A",
    "US3316558A",
    "US3417409A",
    "GB1191633A",
    "US3501776A",
    "US3579276A",
    "US3557387A",
    "US3589134A",
    "US3820168A",
    "US3678311A",
    "US3701368A",
    "CH543277A",
    "US3791375A",
    "US3953900A",
    "US3871032A",
    "FR2293185A1",
    "US3995324A",
    "US4030141A",
    "US4152787A",
    "US4209860A",
    "US4179759A",
    "US4398109A",
    "US4387472A",
    "US4420714A",
    "US4501981A",
    "JPS5932453A",
    "JPS5971747A",
    "JPS5988147A",
    "US4488320A",
    "US4521924A",
    "JPS59189843A",
    "US4569352A",
    "US4556956A",
    "JPS6081530A",
    "US4558704A",
    "US4579558A",
    "US4600357A",
    "JPS60177102A",
    "SU1447366A1",
    "US4649934A",
    "DE3543291A1",
    "US4776852A",
    "US4711242A",
    "US4652266A",
    "US4814661A",
    "US4944755A",
    "US4726404A",
    "US4730625A",
    "GB2201260A",
    "US4805455A",
    "US4770662A",
    "US4854428A",
    "FR2623086A1",
    "US4892554A",
    "US4790522A",
    "US4876944A",
    "US5112356A",
    "US5062856A",
    "US5219365A",
    "US4843921A",
    "SU1731210A1",
    "EP0358056A2",
    "CN2043873U",
    "US5062673A",
    "US5252102A",
    "EP0380060A2",
    "GB2228201A",
    "US5181932A",
    "US5486209A",
    "US5387246A",
    "US6165227A",
    "DE3923057A1",
    "US5139525A",
    "US4994086A",
    "US5086785A",
    "US5033291A",
    "US5044360A",
    "US5725598A",
    "US5217500A",
    "US5181931A",
    "US5484389A",
    "US5200679A",
    "US5019109A",
    "US5314498A",
    "US5376133A",
    "GB2244006A",
    "US5062857A",
    "US5583476A",
    "US5092902A",
    "US5116384A",
    "US5376141A",
    "US5153496A",
    "US5406845A",
    "US5101472A",
    "US5020790A",
    "US5156632A",
    "US5252901A",
    "US5265890A",
    "US5201772A",
    "US6071313A",
    "US5376137A",
    "EP0503775A1",
    "US5545234A",
    "US5246465A",
    "US5112296A",
    "US5156630A",
    "US5258038A",
    "US5253656A",
    "US6029374A",
    "GB2260495A",
    "JPH05123348A",
    "CN1074109A",
    "EP0549855A2",
    "US5383939A",
    "US5571205A",
    "JPH05161668A",
    "US5282460A",
    "US5405407A",
    "DE4305213A1",
    "US5376138A",
    "US5430643A",
    "US5642096A",
    "US5443522A",
    "US5455497A",
    "US5357696A",
    "US5571210A",
    "WO1993024080A1",
    "GB2268070A",
    "US5336269A",
    "DE4318901A1",
    "US5277281A",
    "US5413611A",
    "US5405410A",
    "DE4229330A1",
    "US6500210B1",
    "WO1994006374A1",
    "WO1994009727A2",
    "US5443528A",
    "US5695527A",
    "US5571213A",
    "US5299454A",
    "US5405409A",
    "US5323650A",
    "US5443527A",
    "US5425780A",
    "US5893891A",
    "EP0628296A2",
    "US5954621A",
    "JPH0724766A",
    "US5549711A",
    "US5425781A",
    "US5678448A",
    "US5545232A",
    "US5888246A",
    "WO1995026171A1",
    "US5408873A",
    "US20020040249A1",
    "US5746774A",
    "US6436149B1",
    "US5888236A",
    "US6187051B1",
    "US6006412A",
    "US6061577A",
    "EP0718951A1",
    "US5632725A",
    "US5957981A",
    "US5704945A",
    "US5563458A",
    "US5566479A",
    "US6091977A",
    "US5662693A",
    "GB2301776A",
    "US5888239A",
    "WO1996041598A1",
    "WO1996041599A1",
    "DE19521464A1",
    "WO1997000661A1",
    "US5650704A",
    "GB2302949A",
    "US5728170A",
    "US6183425B1",
    "US6122960A",
    "US5751083A",
    "US6342076B1",
    "WO1997027822A1",
    "US6350286B1",
    "US5800568A",
    "US20020087216A1",
    "US5897594A",
    "US5711746A",
    "US6378190B2",
    "US5704946A",
    "US5800570A",
    "US6007582A",
    "US5972035A",
    "US5779735A",
    "US6113642A",
    "US5955667A",
    "US5998930A",
    "US6352144B1",
    "WO1998025552A1",
    "US6695885B2",
    "US6095486A",
    "WO1998038951A1",
    "US20010020143A1",
    "US5982156A",
    "US6099572A",
    "US6589287B2",
    "US6129766A",
    "US5888213A",
    "JPH11345A",
    "US5888212A",
    "WO1999005991A2",
    "US6517585B1",
    "GB2328160A",
    "WO1999008621A2",
    "GB2367753A",
    "US5929332A",
    "JPH1156885A",
    "US6165226A",
    "EP0902547A2",
    "US5984972A",
    "US5953683A",
    "US6513381B2",
    "US6301964B1",
    "US6361570B1",
    "US6423098B1",
    "DE19754690A1",
    "WO1999029272A1",
    "JPH11215793A",
    "US5895430A",
    "US5948021A",
    "GB2334891A",
    "US6086616A",
    "US6206934B1",
    "US20040162623A1",
    "US6767370B1",
    "GB2338653A",
    "US6039091A",
    "US6379393B1",
    "US6517503B1",
    "US6770045B2",
    "US7410471B1",
    "US6425925B1",
    "GB2343848A",
    "WO2000027317A1",
    "WO2000027318A1",
    "US6517858B1",
    "DE29820904U1",
    "US6206932B1",
    "US6761743B1",
    "WO2000030572A1",
    "CN1215614A",
    "JP2002533161A",
    "WO2000038599A1",
    "US6755870B1",
    "DE19859931A1",
    "US6117177A",
    "US6168634B1",
    "US6290730B1",
    "US20020079857A1",
    "US6387134B1",
    "US6451481B1",
    "US20050038525A1",
    "US6602295B1",
    "US6863695B2",
    "US6241775B1",
    "US6261324B1",
    "US6613097B1",
    "US6398818B1",
    "US20020128727A1",
    "EP1066793A2",
    "US6187052B1",
    "US6409695B1",
    "WO2001017466A2",
    "US6195921B1",
    "EP1107420A2",
    "US20010002772A1",
    "US20020007690A1",
    "US6671531B2",
    "CN2400072Y",
    "US6373152B1",
    "US6908488B2",
    "US6679920B2",
    "US6764520B2",
    "USRE42903E1",
    "US20010029400A1",
    "WO2001054630A1",
    "EP1125825A2",
    "US6494039B2",
    "US6543987B2",
    "CA2405356A1",
    "US7279009B2",
    "US6610101B2",
    "US20080114272A1",
    "US7799091B2",
    "WO2001072245A2",
    "JP2001277175A",
    "US6500138B1",
    "US6430843B1",
    "US20020013628A1",
    "US6719807B2",
    "US20050071018A1",
    "US6811571B1",
    "US6395193B1",
    "US7164967B2",
    "US6522266B1",
    "EP1166726A1",
    "US6663673B2",
    "US6875241B2",
    "EP1169982A1",
    "US6402790B1",
    "US20020094919A1",
    "US6704024B2",
    "US6704582B2",
    "US6855170B2",
    "US20020180572A1",
    "US6805677B2",
    "US7918808B2",
    "US6482236B2",
    "US20020043880A1",
    "US20020087213A1",
    "US7063727B2",
    "FR2816463A1",
    "KR20020041137A",
    "US6733180B2",
    "US6443995B1",
    "WO2002051342A1",
    "JP2002191654A",
    "US20040225376A1",
    "US6743260B2",
    "US20020082713A1",
    "US6645252B2",
    "US6712860B2",
    "US20020116072A1",
    "CN1376856A",
    "US6910331B2",
    "US6443993B1",
    "US20020143408A1",
    "US7578852B2",
    "US7374578B2",
    "US6587728B2",
    "US7611543B2",
    "US20040122529A1",
    "WO2002080825A2",
    "US7381192B2",
    "EP1410780A1",
    "US6699295B2",
    "US20060247794A1",
    "US20030005786A1",
    "WO2003003953A1",
    "US6918308B2",
    "US6764521B2",
    "US6876135B2",
    "EP1442704A1",
    "US7209788B2",
    "US7042197B2",
    "US7308333B2",
    "US20040078299A1",
    "US8109890B2",
    "US20050010139A1",
    "EP1340478A2",
    "JP2003250824A",
    "US7118601B2",
    "US7575602B2",
    "US6740125B2",
    "WO2003088373A2",
    "US7029500B2",
    "US20050131317A1",
    "WO2003086245A2",
    "US20090030530A1",
    "US20040049291A1",
    "US7112938B2",
    "US7410338B2",
    "US20040169112A1",
    "US7780741B2",
    "US20040064195A1",
    "US8551184B1",
    "US6813582B2",
    "WO2004017890A1",
    "EP1547567A1",
    "WO2004017872A1",
    "US8231687B2",
    "US20100262260A1",
    "US7867284B2",
    "EP1531767A1",
    "US7736394B2",
    "US20130035769A1",
    "US20110137429A1",
    "US7137998B2",
    "US9358137B2",
    "US9649206B2",
    "US6793683B1",
    "US7147667B2",
    "US20060122711A1",
    "US6702860B1",
    "WO2004017871A2",
    "US6676708B1",
    "CA2494365A1",
    "JP2005536317A",
    "WO2004017873A1",
    "US20130297041A1",
    "US7314490B2",
    "US7641700B2",
    "WO2004032809A1",
    "US20040068327A1",
    "US7419509B2",
    "US6824569B2",
    "US20040086240A1",
    "US7150762B2",
    "US7396337B2",
    "US6966882B2",
    "US7295892B2",
    "US20040153484A1",
    "US6955692B2",
    "US8087498B2",
    "US7131998B2",
    "US7182738B2",
    "US20070129653A1",
    "WO2004100191A1",
    "US20040217324A1",
    "US7198071B2",
    "US6764522B1",
    "US7475606B2",
    "JP2005000500A",
    "US20100042256A1",
    "US7503900B2",
    "US20050029979A1",
    "US20050033451A1",
    "US8007544B2",
    "US20070027557A1",
    "US20050113973A1",
    "US20050049719A1",
    "US20050049721A1",
    "US20050060045A1",
    "US8075633B2",
    "US20050070834A1",
    "US6969408B2",
    "US8070829B2",
    "US20050071017A1",
    "US6966933B2",
    "US7462201B2",
    "US7520904B2",
    "WO2005041819A2",
    "US7025792B2",
    "USD499487S1",
    "USD501925S1",
    "US20110130847A1",
    "US7815689B2",
    "CA2543061A1",
    "US20050107889A1",
    "US8323354B2",
    "WO2005048887A1",
    "US7955398B2",
    "US20080046096A1",
    "US8986397B2",
    "US9526636B2",
    "WO2005051248A1",
    "CA2546858A1",
    "US7300240B2",
    "US20050137717A1",
    "US7953549B2",
    "US7500407B2",
    "US20050166685A1",
    "US8657886B2",
    "US7811334B2",
    "US8057550B2",
    "US20150164661A1",
    "US7637957B2",
    "US7637959B2",
    "US20110106274A1",
    "US20120016492A1",
    "US9271851B2",
    "US7896927B2",
    "US7431737B2",
    "US10195057B2",
    "US7091679B2",
    "US8617254B2",
    "US9345591B2",
    "WO2005087144A2",
    "US20050283257A1",
    "US20140156025A1",
    "US7066964B2",
    "US20050216097A1",
    "US20050251079A1",
    "US7691154B2",
    "US20060136072A1",
    "WO2005110293A2",
    "US7455696B2",
    "US7347877B2",
    "US7998221B2",
    "US7846213B2",
    "US9668887B2",
    "US9132022B2",
    "US8025699B2",
    "US7190096B2",
    "US20080004718A1",
    "US20060025959A1",
    "EP1792597A1",
    "US20090030344A1",
    "WO2006024876A2",
    "US8366788B2",
    "US20060069450A1",
    "US7992849B2",
    "US20060069336A1",
    "US8142370B2",
    "CN2776340Y",
    "US9078774B2",
    "US7811333B2",
    "US20150265429A1",
    "US20060135883A1",
    "WO2006076164A2",
    "US20060189899A1",
    "US20060260620A1",
    "US20080133171A1",
    "US20060167563A1",
    "US7862620B2",
    "US20150105700A1",
    "US7867285B2",
    "US7794505B2",
    "CN101155557A",
    "US8048007B2",
    "US8122772B2",
    "US8869626B2",
    "WO2006083913A2",
    "US9462966B2",
    "US20060173555A1",
    "US20060173552A1",
    "US20150032225A1",
    "US8801802B2",
    "US20060184252A1",
    "US20060184280A1",
    "US20080141813A1",
    "US7942935B2",
    "US8888864B2",
    "US20120209405A1",
    "US20100324699A1",
    "US20060249315A1",
    "US20100114329A1",
    "US8500823B2",
    "US20110264230A1",
    "US20110257764A1",
    "US20070043449A1",
    "US8870967B2",
    "US7313463B2",
    "US8864846B2",
    "US20100241242A1",
    "US20070123997A1",
    "US20070162152A1",
    "US8512415B2",
    "US8814949B2",
    "US9717606B2",
    "US9066819B2",
    "US20150320573A1",
    "US20060259153A1",
    "US20070270722A1",
    "US20070032748A1",
    "US7655050B2",
    "US20070061016A1",
    "US7485152B2",
    "WO2007025116A2",
    "US20150073566A1",
    "US8702811B2",
    "US8048172B2",
    "US20070156252A1",
    "US20140324190A1",
    "US8852292B2",
    "US7531006B2",
    "WO2007027668A2",
    "US8709097B2",
    "US8083807B2",
    "US7552664B2",
    "US20080306612A1",
    "US7602301B1",
    "US20090012630A1",
    "US20090192625A1",
    "WO2007095933A2",
    "US7883546B2",
    "US20070233279A1",
    "US8403997B2",
    "US7731759B2",
    "US20090171469A1",
    "US7578799B2",
    "US7597017B2",
    "US7618464B2",
    "US20080058668A1",
    "US20100185301A1",
    "US20080122303A1",
    "US20100094431A1",
    "US7985265B2",
    "US20080262635A1",
    "US20090299480A1",
    "US8435309B2",
    "US20160302956A1",
    "US9526635B2",
    "US20100160844A1",
    "US20130268093A1",
    "US8211042B2",
    "WO2008080231A1",
    "US11007072B2",
    "US9808357B2",
    "US20110125290A1",
    "US10405996B2",
    "US20180125678A1",
    "US20190365545A1",
    "US7727285B2",
    "US20090024062A1",
    "US20090056445A1",
    "US20090082869A1",
    "US20090088912A1",
    "US20100305716A1",
    "US8790282B2",
    "US8011229B2",
    "US20120130508A1",
    "JP2009153660A",
    "US20090204229A1",
    "US20090204230A1",
    "US10299943B2",
    "US20130144402A1",
    "US8652218B2",
    "US20090265018A1",
    "US20120330439A1",
    "US20090312844A1",
    "US20100063778A1",
    "US20100023133A1",
    "US20110166674A1",
    "US20100161077A1",
    "US20100030343A1",
    "US8764850B2",
    "US20100042228A1",
    "US20110082566A1",
    "US20100174385A1",
    "US20100113980A1",
    "US20100179668A1",
    "US9345592B2",
    "US8419804B2",
    "US20140081424A1",
    "US9554922B2",
    "US20100174384A1",
    "US9351856B2",
    "WO2010027968A2",
    "US20100131101A1",
    "US20140191522A1",
    "US20110196509A1",
    "US20100275718A1",
    "US20100286796A1",
    "US20100324698A1",
    "WO2011005482A2",
    "US20110208322A1",
    "US20110015761A1",
    "WO2011096965A2",
    "US20120226364A1",
    "US8601897B2",
    "US20110132131A1",
    "WO2011100118A2",
    "WO2011100117A2",
    "US20110202144A1",
    "US8486156B2",
    "US20120078415A1",
    "US20140121782A1",
    "US20110295384A1",
    "US20110295385A1",
    "US20140114437A1",
    "US20120016493A1",
    "US8480760B2",
    "US8555715B2",
    "US20130142608A1",
    "US20130197408A1",
    "US8915968B2",
    "WO2012047721A1",
    "EP2621414A1",
    "WO2012062279A2",
    "US20130218298A1",
    "WO2012091555A1",
    "US9839552B2",
    "US20120259430A1",
    "US9687377B2",
    "US20120203359A1",
    "US20120283845A1",
    "US9060883B2",
    "US20150297368A1",
    "WO2012150500A1",
    "US10251762B2",
    "US9060884B2",
    "WO2013006585A2",
    "US20130173022A1",
    "US9114029B2",
    "US20130095861A1",
    "US9737419B2",
    "US10575970B2",
    "US20200214856A1",
    "US10543109B2",
    "US9604368B2",
    "US9532877B2",
    "US9032635B2",
    "US20130158444A1",
    "US9498401B2",
    "US9622884B2",
    "US20140200680A1",
    "US20130218295A1",
    "US10307271B2",
    "US9682005B2",
    "US20130282141A1",
    "US9044346B2",
    "US10940027B2",
    "US20180177618A1",
    "US9895240B2",
    "WO2013148726A1",
    "US20130261766A1",
    "US9221177B2",
    "US20130310949A1",
    "US20130311134A1",
    "US20130311133A1",
    "US20150127118A1",
    "US20140039642A1",
    "EP2702963A1",
    "US20170112640A1",
    "US10369019B2",
    "US9561118B2",
    "US20190224026A1",
    "US20170304083A1",
    "US9707104B2",
    "US20200383804A1",
    "US10695197B2",
    "US9289316B2",
    "US20160158031A1",
    "US20160158032A1",
    "US20150209214A1",
    "US20170049659A1",
    "US20150328020A1",
    "US20200000611A1",
    "US10390974B2",
    "WO2015157723A1",
    "US20150374514A1",
    "US20170340504A1",
    "US9459698B2",
    "US20170241497A1"
  ]
}