Rehabilitation Institute of Chicago

Jon Sensinger

James Lipsey

Tommaso Lenzi

Levi John Hargrove

Robert D Gregg

Ashley Swartz

Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.

Modular and lightweight myoelectric prosthesis components and related methods

A prosthetic device having a proximal interphalangeal joint (PIP) and a metacarpophalangeal joint (MCP), comprising a first prosthetic digit comprising one or more first phalanges and a four-bar linkage to operatively couple the PIP joint to the MCP joint, a first engagement portion positioned on one of the first phalanges, the first engagement portion comprising a locking linkage extending along the phalange, the locking linkage being part of the four-bar linkage, and a first stopping portion comprising a stopping element configured to be positioned above the locking linkage, wherein the locking linkage is capable of engaging with the stopping element by passing the one of the first phalanges in which the locking linkage is positioned through a mechanical singularity to lock the first prosthetic digit such that each of the one or more phalanges is in a position of flexion in response to a force applied to the first prosthetic digit.

Lockable finger system and related methods

Systems and methods are disclosed for operating a joint of a prosthesis during a phase of stance. In an embodiment, a method for such operation comprises determining a joint angle of the joint, determining a walking speed of the prosthesis, retrieving a torque value from a lookup table stored in a memory, on the basis of the joint angle and the walking speed, and initiating a signal to apply a torque to the joint of the prosthesis in an amount based on the torque value.

Stance controller and related methods

Systems and methods for improved control of a lower limb device are disclosed. The lower limb may have one or more joints and one or more corresponding motors. In some embodiments, a center of pressure is calculated in order to enforce virtual constraints at the one or more joints of the lower limb device. The system utilizes one or more effective shapes, and each effective shape's corresponding error, in order to cause each joint motor to produce a torque that causes the joint to move according to a virtual constraint. The systems and methods result in improved control of lower limb devices.

Effective shape controller for lower limb

We present a novel swing phase control module for powered transfemoral prostheses based on minimum jerk theory. The control module allows physiologically appropriate swing movement at any walking speed, regardless of the stance controller action. Preliminary validation in a transfemoral amputee subject demonstrates that the control module provides physiological swing timing, without speed or patient-specific tuning.

Growing community of inventors

Fredericton, Canada

Jon Sensinger