Massachusetts Institute of Technology

Bruce Wayne Deffenbaugh

Hugh Miller Herr

Jeff Anthony Weber

Lee Harris Magnusson

Andreas G Hofmann

Benjamin B Aisen

Gill A Pratt

Michael Brian Wittig

Kwok Wai Samuel Au

Samuel Au

A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Powered ankle-foot prosthesis

Powered ankle-foot prothesis

The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee which utilizes a plurality of interspersed and alternating rotors and stators to shear magnetorheological fluid in gaps formed therebetween. Advantageously, by operating in the 'shear mode' there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed&#x2014;eliminating the need for a transmission&#x2014;and also for a wide dynamic torque range. One embodiment of the invention allows the rotors and/or stators to close the gaps therebetween to create a frictional torque component, thereby forming a 'hybrid' braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.

Electronically controlled prosthetic knee

The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee which utilizes a plurality of interspersed and alternating rotors and stators to shear magnetorheological fluid in gaps formed therebetween. Advantageously, by operating in the &ldquo;shear mode&rdquo; there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed&mdash;eliminating the need for a transmission&mdash;and also for a wide dynamic torque range. One embodiment of the invention allows the rotors and/or stators to close the gaps therebetween to create a frictional torque component, thereby forming a &ldquo;hybrid&rdquo; braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.

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Honolulu, HI, United States of America

Bruce Wayne Deffenbaugh