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Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
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机译:基于预测的步行速度或同样的代理,控制假体或矫形器中的功率
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摘要
In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.
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