EP2398425A4 - MOTORIZED ARTIFICIAL KNEE WITH AGONIST ANTAGONIST MECHANISM - Google Patents

MOTORIZED ARTIFICIAL KNEE WITH AGONIST ANTAGONIST MECHANISM

Info

Publication number: EP2398425A4
Authority: EP; European Patent Office
Prior art keywords: artificial knee; agonist antagonist; motorized; antagonist mechanism; motorized artificial
Prior art date: 2009-01-30
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Withdrawn

Application number

EP10736533.0A

Other languages

German (de)

French (fr)

Other versions

EP2398425A1 (en

Inventor

Hugh M Herr

Ernesto C Martinez-Villalpando

Jeff Anthony Weber

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Massachusetts Institute of Technology

Original Assignee

Massachusetts Institute of Technology

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2009-01-30

Filing date

2010-02-01

Publication date

2013-09-18

2010-02-01 Application filed by Massachusetts Institute of Technology filed Critical Massachusetts Institute of Technology

2011-12-28 Publication of EP2398425A1 publication Critical patent/EP2398425A1/en

2013-09-18 Publication of EP2398425A4 publication Critical patent/EP2398425A4/en

Status Withdrawn legal-status Critical Current

Classifications

- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5066—Muscles
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5072—Prostheses not implantable in the body having spring elements
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7625—Measuring means for measuring angular position
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/764—Measuring means for measuring acceleration
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force

Landscapes

Health & Medical Sciences (AREA)
Transplantation (AREA)
Vascular Medicine (AREA)
Life Sciences & Earth Sciences (AREA)
Oral & Maxillofacial Surgery (AREA)
Engineering & Computer Science (AREA)
Biomedical Technology (AREA)
Heart & Thoracic Surgery (AREA)
Veterinary Medicine (AREA)
Cardiology (AREA)
Animal Behavior & Ethology (AREA)
General Health & Medical Sciences (AREA)
Public Health (AREA)
Orthopedic Medicine & Surgery (AREA)
Prostheses (AREA)
Manipulator (AREA)
Rehabilitation Tools (AREA)

EP10736533.0A 2009-01-30 2010-02-01 MOTORIZED ARTIFICIAL KNEE WITH AGONIST ANTAGONIST MECHANISM Withdrawn EP2398425A4 (en)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
US14854509P	2009-01-30	2009-01-30
PCT/US2010/022760 WO2010088616A1 (en)	2009-01-30	2010-02-01	Powered artificial knee with agonist-antagonist actuation

Publications (2)

Publication Number	Publication Date
EP2398425A1 EP2398425A1 (en)	2011-12-28
EP2398425A4 true EP2398425A4 (en)	2013-09-18

Family

ID=42396064

Family Applications (2)

Application Number	Title	Priority Date	Filing Date
EP10736550.4A Withdrawn EP2391486A4 (en)	2009-01-30	2010-02-01	MODEL-BASED NEUROMECHANICAL CONTROL DEVICE FOR A ROBOTIC LEG
EP10736533.0A Withdrawn EP2398425A4 (en)	2009-01-30	2010-02-01	MOTORIZED ARTIFICIAL KNEE WITH AGONIST ANTAGONIST MECHANISM

Family Applications Before (1)

Application Number	Title	Priority Date	Filing Date
EP10736550.4A Withdrawn EP2391486A4 (en)	2009-01-30	2010-02-01	MODEL-BASED NEUROMECHANICAL CONTROL DEVICE FOR A ROBOTIC LEG

Country Status (7)

Country	Link
EP (2)	EP2391486A4 (en)
JP (2)	JP2012516780A (en)
KR (2)	KR20110122150A (en)
CN (2)	CN102378669A (en)
AU (2)	AU2010207942A1 (en)
CA (1)	CA2787955A1 (en)
WO (2)	WO2010088616A1 (en)

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US8512415B2 (en)	2005-03-31	2013-08-20	Massachusetts Institute Of Technology	Powered ankle-foot prothesis
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US20060249315A1 (en)	2005-03-31	2006-11-09	Massachusetts Institute Of Technology	Artificial human limbs and joints employing actuators, springs, and variable-damper elements
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US10307272B2 (en)	2005-03-31	2019-06-04	Massachusetts Institute Of Technology	Method for using a model-based controller for a robotic leg
US11278433B2 (en)	2005-03-31	2022-03-22	Massachusetts Institute Of Technology	Powered ankle-foot prosthesis
US8500823B2 (en)	2005-03-31	2013-08-06	Massachusetts Institute Of Technology	Powered artificial knee with agonist-antagonist actuation
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US10406000B2 (en) *	2016-09-29	2019-09-10	The Chinese University Of Hong Kong	Ankle-foot prosthesis device
CN106730604B (en) *	2016-12-30	2019-03-01	西安交通大学	A kind of human body exercise treadmill adaptive active control method based on CPG model
WO2018236208A1 (en) *	2017-06-22	2018-12-27	Universiti Malaya	A prosthetic limb integrated with a sensory system
CN108143594A (en) *	2017-12-21	2018-06-12	大连厚德坤泰管理咨询有限公司	Fusion and coordination control method for complex terrain of lower limb exoskeleton robot
CN108393892B (en) *	2018-03-05	2020-07-24	厦门大学	A kind of robot feedforward torque compensation method
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IT202100024512A1 (en) *	2021-09-23	2023-03-23	Fondazione St Italiano Tecnologia	ACTIVE PROSTHETIC JOINT
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2010
- 2010-02-01 AU AU2010207942A patent/AU2010207942A1/en not_active Abandoned
- 2010-02-01 EP EP10736550.4A patent/EP2391486A4/en not_active Withdrawn
- 2010-02-01 CN CN2010800152080A patent/CN102378669A/en active Pending
- 2010-02-01 WO PCT/US2010/022760 patent/WO2010088616A1/en active Application Filing
- 2010-02-01 KR KR1020117020233A patent/KR20110122150A/en not_active Withdrawn
- 2010-02-01 EP EP10736533.0A patent/EP2398425A4/en not_active Withdrawn
- 2010-02-01 WO PCT/US2010/022783 patent/WO2010088635A1/en active Application Filing
- 2010-02-01 JP JP2011548380A patent/JP2012516780A/en active Pending
- 2010-02-01 CA CA2787955A patent/CA2787955A1/en not_active Abandoned
- 2010-02-01 JP JP2011548374A patent/JP2012516717A/en active Pending
- 2010-02-01 AU AU2010208020A patent/AU2010208020A1/en not_active Abandoned
- 2010-02-01 CN CN2010800152076A patent/CN102481194A/en active Pending
- 2010-02-01 KR KR1020117020206A patent/KR20110120927A/en not_active Withdrawn

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Also Published As

Publication number	Publication date
AU2010208020A1 (en)	2011-09-15
CN102481194A (en)	2012-05-30
EP2398425A1 (en)	2011-12-28
WO2010088635A1 (en)	2010-08-05
CA2787955A1 (en)	2010-08-05
KR20110122150A (en)	2011-11-09
EP2391486A1 (en)	2011-12-07
AU2010207942A1 (en)	2011-09-15
JP2012516717A (en)	2012-07-26
CN102378669A (en)	2012-03-14
EP2391486A4 (en)	2013-09-04
WO2010088616A1 (en)	2010-08-05
KR20110120927A (en)	2011-11-04
JP2012516780A (en)	2012-07-26

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EP2451388A4 (en)	2012-12-12	HIP DEVICE
DE102008004868A8 (en)	2009-11-12	Residual Current Device
EP2331101A4 (en)	2012-08-29	MONOCYCLIC AMID-CGRP RECEPTOR ANTAGONISTS

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