The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 15, 2026
Filed:
Nov. 16, 2020
North Carolina State University, Raleigh, NC (US);
Arizona Board of Regents on Behalf of Arizona State University, Scottsdale, AZ (US);
North Carolina State University, Raleigh, NC (US);
ARIZONA BOARD OF REGENTS ON BEHALF OF ARIZONA STATE UNIVERSITY, Scottsdale, AZ (US);
Abstract
Systems and methods for tuning a powered prosthesis are described herein. A system includes a powered prosthesis including a joint, a motor mechanically coupled to the joint, a plurality of sensors, a finite state machine, and an impedance controller. The sensors are configured to measure a plurality of gait parameters, and the finite state machine is configured to determine a gait cycle state. The impedance controller is configured to output a control signal for adjusting a torque of the motor, where the torque is adjusted as a function of the measured gait parameters and a plurality of impedance control parameters, and where the impedance control parameters are dependent on the gait cycle state. The system also includes a reinforcement learning controller operably connected to the powered prosthesis. The reinforcement learning controller is configured to tune the impedance control parameters to achieve a target gait characteristic using a training data set.