( 12 ) united states patent ( 10 ) patent no . : us 10 , 376 ......us010376388b2 ( 12 ) united...

US010376388B2

( 12 ) United States Patent Hansen et al .

( 10 ) Patent No . : US 10 , 376 , 388 B2 ( 45 ) Date of Patent : * Aug . 13 , 2019

U . S . Cl . A61F 318 . 01 ) ; A6 ( 54 ) ANKLE - FOOT PROSTHESIS FOR

AUTOMATIC ADAPTATION TO SLOPED WALKING SURFACES

( 71 ) Applicants : U . S . Department of Veterans Affairs , Washington , DC ( US ) ; Regents of the University of Minnesota , Minneapolis , MN ( US )

CPC . . . . A61F 2 / 6607 ( 2013 . 01 ) ; A61F 2002 / 5006 ( 2013 . 01 ) ; A61F 2002 / 6614 ( 2013 . 01 ) ;

( Continued ) ( 58 ) Field of Classification Search

CPC . . . . . . . . . . A61F 2 / 604 ; A61F 2 / 66 ; A61F 2 / 6607 ; A61F 2002 / 5073 ; A61F 2002 / 6614 ; ( Continued )

( 56 ) References Cited U . S . PATENT DOCUMENTS

( 72 ) Inventors : Andrew H . Hansen , Apple Valley , MN ( US ) ; Eric A . Nickel , Brooklyn Park , MN ( US )

( 73 ) 2 , 843 , 853 A 4 , 923 , 475 A Assignee : The United States Government as

represented by the Department of Veterans Affairs , Washington , DC ( US )

7 / 1958 Mauch 5 / 1990 Gosthnian et al .

( Continued )

FOREIGN PATENT DOCUMENTS ( * ) Notice : Subject to any disclaimer , the term of this

patent is extended or adjusted under 35 U . S . C . 154 ( b ) by 0 days . This patent is subject to a terminal dis claimer .

WOWO 2008 / 048658 A2 4 / 2008 WO WO2011 / 117033 A1 * 2 / 2011

( Continued )

OTHER PUBLICATIONS ( 21 ) Appl . No . : 15 / 434 , 533 ( 22 ) Filed : Feb . 16 , 2017

( 65 ) Prior Publication Data US 2017 / 0156894 A1 Jun . 8 , 2017

Hansen , A . , Childress , D . , Miff , S . , Gard , S . , Mesplay , K . ( 2004 ) The Human Ankle During Walking : Implications for Design of Biomimetic Ankle Prostheses and Orthoses . Journal of Biomechan ics , vol . 37 , No . 10 , 1467 - 1474 .

( Continued ) Primary Examiner — Christie L Bahena ( 74 ) Attorney , Agent , or Firm — Ballard Spahr LLP

ABSTRACT An ankle - foot prosthesis includes a foot plate , an ankle frame attached to the foot plate , a yoke pivotally connected to the ankle frame and including a member for attaching to a leg , a damper having a first end connected to the yoke and a second end connected to the ankle frame , and a control mechanism for switching the damper between low and high settings .

12 Claims , 45 Drawing Sheets

( 57 ) Related U . S . Application Data Continuation - in - part of application No . 15 / 359 , 242 , filed on Nov . 22 , 2016 , now Pat . No . 10 , 105 , 243 ,

( Continued )

( 63 )

( 51 ) Int . CI . A61F 2 / 50 A61F 2 / 66 A61F 2 / 74

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FOREIGN PATENT DOCUMENTS Related U . S . Application Data which is a continuation of application No . 14 / 022 , 645 , filed on Sep . 10 , 2013 , now Pat . No . 9 , 549 , 827 .

WO WO

WO 2011 / 129892 A2 W O 2012 / 099709 A2

10 / 2011 7 / 2012

OTHER PUBLICATIONS ( 60 ) Provisional application No . 61 / 851 , 740 , filed on Mar . 13 , 2013 , provisional application No . 61 / 703 , 799 , filed on Sep . 21 , 2012 .

( 52 ) U . S . CI . CPC . A61F 2002 / 6642 ( 2013 . 01 ) ; A61F 2002 / 745

( 2013 . 01 ) ; A61F 2002 / 748 ( 2013 . 01 ) ( 58 ) Field of Classification Search

CPC . . . . . . A61F 2002 / 6621 ; A61F 2002 / 6628 ; A61F 2002 / 6635 ; A61F 2002 / 6642 ; A61F 2002 / 665 ; A61F 2002 / 6657 ; A61F

2002 / 6664 ; A61F 2002 / 6671 ; A61F 2002 / 6678 ; A61F 2002 / 6685 ; A61F

2002 / 6692 ; B25J 9 / 0006 See application file for complete search history .

( 56 ) References Cited U . S . PATENT DOCUMENTS

5 , 367 , 790 A 11 / 1994 Gamow et al . 5 , 458 , 143 A 10 / 1995 Herr 5 , 701 , 686 A 12 / 1997 Herr et al . 6 , 029 , 374 A 2 / 2000 Herr et al . 6 , 443 , 993 B1 9 / 2002 Koniuk 6 , 610 , 101 B2 8 / 2003 Herr et al . 6 , 764 , 520 B2 7 / 2004 Deffenbaugh et al . 7 , 295 , 892 B2 11 / 2007 Herr et al . 7 , 313 , 463 B2 12 / 2007 Herr et al . 7 , 785 , 373 B2 8 / 2010 Frye , Jr . 7 , 942 , 935 B2 5 / 2011 Iversen et al . 7 , 985 , 265 B2 7 / 2011 Moser et al . 8 , 048 , 172 B2 11 / 2011 Jonsson et al . 8 , 376 , 971 B12 / 2013 Herr et al . 8 , 480 , 760 B27 / 2013 Hansen et al . 8 , 597 , 369 B2 12 / 2013 Hansen et al . 8 , 696 , 764 B2 4 / 2014 Hansen et al . 8 , 764 , 850 B2 7 / 2014 Hansen et al . 8 , 888 , 864 B2 11 / 2014 Iversen et al .

2003 / 0120354 AL 6 / 2003 Doddroe et al . 2004 / 0064195 AL 4 / 2004 Herr 2005 / 0070834 AL 3 / 2005 Herr 2005 / 0137717 A1 * 6 / 2005 Gramnas . . . . . . . . . . . . . . .

Williams RJ , Hansen AH , Gard SA . ( 2009 ) Prosthetic Ankle - Foot Mechanism Capable of Automatic Adaptation to the Walking Sur face . Journal of Biomechanical Engineering , vol . 131 , No . 3 , 035002 ( 7 pgs ) . Hansen A , Brielmaier S , Medvec J , Pike A , Nickel E , Merchak P , Weber M ( 2012 ) Prosthetic Foot with Adjustable Stability and its Effects on Balance and Mobility . 38th Annual Meeting and Scien tific Symposium of the American Academy of Orthotists and Prosthetists , Mar . 21 - 24 , Atlanta . Georgia ( 1 pg ) . Nickel EA , Hansen AH , Gard SA . ( 2012 ) Prosthetic Ankle - Foot System that Adapts to Sloped Surfaces . ASME Journal of Medical Devices , vol . 6 , No . 1 , 011006 ( 6 pgs ) . PCT International Search Report and the Written Opinion in Inter national App . No . PCT / US2014 / 023141 dated Jun . 27 , 2014 ( 11 pp . ) . Biomechatronics - Powered Ankle - Foot Prostheses . http : / / biomech . media . mit . edu / portfolio _ page / powered - ankle - foot - prostheses / ( 2 pages ) . Accessed Jan . 13 , 2015 . Biomechatronics - Running Powered Ankle - Foot Protheses . http : / / biomech . media . mit . edu / ( 2 pages ) . Accessed Jan . 13 , 2015 . J . Markowitz , P . Krishnaswamy , M . F . Eilenberg , K . Endo , C . Barnhart , and H . M . Herr . Speed adaptation in a powered transtibial prosthesis controlled with a neuromuscular model , Philosophical Transactions of the Royal Society B : Biological Sciences , vol . 366 , No . 1570 , pp . 1621 - 1631 , 2011 . M . F . Eilenberg , H . Geyer , and H . M . Herr . Control of a powered ankle - foot prosthesis based on a neuromuscular model , IEEE Trans actions on Neural Systems and Rehabilitation Engineering , vol . 18 , No . 2 , pp . 164 - 173 , 2010 . S . Au , J . Weber , and H . M Herr . Powered Ankle - Foot Prosthesis Improves Walking Metabolic Economy , IEEE Transactions on Robot ics , vol . 25 , No . 1 , pp . 51 - 66 , 2009 . S . K . Au , M . Berniker , and H . M . Herr . Powered ankle - foot prosthesis to assist level - ground and stair - descent gaits , Neural Networks , vol . 21 , pp . 654 - 666 , 2008 . S . K . Au , and H . M . Herr . Powered ankle - foot prosthesis , IEEE Robotics & Automation Magazine , vol . 15 , No . 3 , pp . 52 - 59 , 2008 . H . Herr , J . Weber , and S . Au . Powered ankle - foot prosthesis , Biomechanics of the Lower Limb in Health , Disease and Rehabili tation , pp . 72 - 74 , Sep . 3 - 5 , 2007 . E . C . Martinez - Villalpando , H . M . Herr . Estimation of ground reaction force and zero moment point on a powered ankle - foot prosthesis , IEEE Engineering in Medicine and Biology Interna tional Conference , Lyon , France , Aug . 23 - 26 , 2007 , pp . 4687 - 4692 , 2007 . S . K . Au , J . Weber , H . M . Herr and E . C . Martinez - Villapando , Powered ankle - foot prosthesis for the improvement of amputee ambulation , IEEE Engineering in Medicine and Biology Interna tional Conference , Lyon , France , Aug . 23 - 27 , 2007 , pp . 3020 - 3026 , 2007 . S . K . Au , J . Weber , and H . Herr . Biomechanical design of a powered ankle - foot prosthesis , IEEE 10th International Conference on Reha bilitation Robotics , Jun . 12 - 15 , 2007 , The Netherlands , pp . 298 - 303 , 2007 . Biomechatronics - Publications . http : / / biomech . media . mit . edu / ( 7 pages ) . Accessed Feb . 5 , 2014 . Mobbili . Derwent Abstract of WO 2011 / 117033 . Sep . 29 , 2011 A61F2 / 6607 .

A61F 2 / 66 623 / 38

2006 / 0069448 AL 3 / 2006 Yasui 2006 / 0235544 A1 * 10 / 2006 Iversen A61F 2 / 64

623 / 26 2006 / 0241782 Al 10 / 2006 Curtis 2007 / 0027555 AL 2 / 2007 Palmer et al . 2007 / 0043449 AL 2 / 2007 Herr et al . 2007 / 0299544 A1 * 12 / 2007 Du A61F 2 / 66

623 / 26 2008 / 0300692 A112 / 2008 Moser et al . 2008 / 0306612 Al 12 / 2008 Mosler 2009 / 0037000 A1 * 2 / 2009 Frye , Jr . . . . A61F 2 / 60

623 / 39 2010 / 0185301 A1 2012 / 0130508 A1

7 / 2010 Hansen et al . 5 / 2012 Harris et al . * cited by examiner

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ANKLE - FOOT PROSTHESIS FOR Also , the high power requirements necessitate carrying AUTOMATIC ADAPTATION TO SLOPED additional batteries and frequent charging of batteries .

WALKING SURFACES ASPECTS OF THE INVENTION

CROSS - REFERENCE TO RELATED APPLICATIONS The present disclosure is directed to various aspects of the

present invention . This is a continuation - in - part ( CIP ) application of U . S . One aspect of the present invention is to provide an

application Ser . No . 15 / 359 , 242 , filed Nov . 22 , 2016 , which ankle - foot prosthesis that allows a user to have a more is a continuation application of U . S . application Ser . No . 10 natural , and thus more comfortable gait . 14 / 022 , 645 , filed Sep . 10 , 2013 , which claims priority based Another aspect of the present invention is to provide an on prior two ( 2 ) U . S . Provisional Application Ser . No . ankle - foot prosthesis that is more energy - efficient when used 61 / 703 , 799 , filed Sep . 21 , 2012 , and Ser . No . 61 / 851 , 740 , for walking or other gait . filed Mar . 13 , 2013 , both hereby incorporated herein in their Another aspect of the present invention is to provide an entirety by reference . The present application is further 15 ankle - foot prosthesis that is simple in design and construc related to International Application No . PCT / US2007 / tion and , thus , uses fewer parts or components , and requires 022208 , filed Oct . 17 , 2007 ( WO 2008 / 048658 , Apr . 24 , no or low maintenance . 2008 ) ( U . S . application Ser . No . 12 / 311 , 818 , filed Apr . 13 , Another aspect of the present invention is to provide an 2009 , Published as US 2010 / 0185301 , on Jul . 22 , 2010 ) , ankle - foot prosthesis that is compact and more durable than , U . S . application Ser . No . 12 / 462 , 056 , filed Jul . 28 , 2009 20 for example , those using multitude of mechanical parts ( Published as US 2010 / 0030343 , on Feb . 4 , 2010 ) , U . S . leading to a higher rate of failure . application Ser . No . 13 / 066 , 361 , filed Apr . 12 , 2011 ( Pub Another aspect of the present invention is provide an lished as US 2012 / 0016493 , on Jan . 19 , 2012 ) , U . S . appli ankle - foot prosthesis that resists or prevents undesirable cation Ser . No . 13 / 374 , 881 , filed Jan . 20 , 2012 ( Published as backward swing , which could lead to imbalance or injury . US 2013 / 0006386 , on Jan . 3 , 2013 ) , and International Appli - 25 Another aspect of the present invention is to provide an cation No . PCT / US2011 / 000675 , filed Apr . 4 , 2011 ( WO ankle - foot prosthesis that is quieter , light - weight , and less 2011 / 129892 , Oct . 20 , 2011 ) , all of which are hereby incor clumsy to use , and thus more user - friendly . porated herein in their entirety by reference . Another aspect of the present invention is to provide an

ankle - foot prosthesis that automatically adapts to different FIELD AND BACKGROUND OF THE 30 sloped walking surfaces on every step of walking .

INVENTION Another aspect of the present invention is to provide an ankle - foot prosthesis that can easily switch into a stable

The present invention is generally directed to prosthetic mode for standing or swaying , for example , when washing and orthotic devices , and more particularly to an ankle - foot the dishes . prosthesis for automatic adaptation to level , as well as 35 Another aspect of the present invention is to provide an sloped walking surfaces . Even more particularly , the inven - ankle - foot prosthesis , which includes a foot plate , an ankle tion is directed to a device or system for use by lower limb frame attached to the foot plate , a yoke pivotally connected amputees to more easily and safely walk over a variety of to the ankle frame and including a member for attaching to sloped terrain , as well as to provide more stability during a leg , a damper having a first end connected to the yoke and standing and swaying tasks . 40 a second end connected to the ankle frame , and a control Most currently available prosthetic ankle devices are mechanism for switching the damper between low and high

spring - like structures that operate about one equilibrium settings . point ( i . e . , one resting angle ) . These systems can work nicely Another aspect of the present invention is to provide an on level terrain but cause instabilities when lower limb ankle - foot prosthesis , which includes a foot plate , an ankle prosthesis users walk on sloped surfaces . Many systems 45 frame attached to the foot plate and including anterior and have been described that use hydraulic dampers and / or posterior portions and an apex portion , a yoke pivotally variations of damping to adjust the properties of the pros - connected to the apex portion of the ankle frame and thesis ( Mauch , 1958 — U . S . Pat . No . 2 , 843 , 853 ; Koniuk , including a member for attaching to a leg , a hydraulic 2002 — U . S . Pat . No . 6 , 443 , 993 ; Moser et al , 2011 — U . S . damper having a first end pivotally connected to the yoke Pat . No . 7 , 985 , 265 ) , including the use of microprocessor - 50 and a second end connected to the posterior portion of the control to adjust damping properties . The inherent problem ankle frame ; a spring disposed in parallel to the damper , and with damping control of the ankle is the associated loss of a control mechanism for controlling extension and compres energy that occurs . One system exists that uses a motor to sion of the damper . change the equilibrium point of a spring - like prosthetic foot Another aspect of the present invention is to provide a ( Jonsson et al , 2011 — U . S . Pat . No . 8 , 048 , 172 ) . However , 55 method of using an ankle - foot prosthesis by an amputee , this system requires multiple steps on a new terrain before which includes a ) providing an ankle - foot prosthesis includ it is able to adapt to the new slope . A more desirable system ing i ) a foot plate , ii ) an ankle frame attached to the foot would adapt to different sloped surfaces on each and every plate , iii ) a yoke pivotally connected to the ankle frame and step of walking . Lastly , powered ankle - foot systems are including a member for attaching to a leg , iv ) a damper being developed ( Hugh Herr , Massachusetts Institute of 60 having a first end connected to the yoke and a second end Technology ; Thomas Sugar , Arizona State University ; connected to the ankle frame , and v ) a control mechanism Michael Goldfarb , Vanderbilt University ) . These systems all for switching the damper between low and high settings to actively push the prosthesis user with a motor during various selectively control extension , compression , or both exten times in the gait cycle and require large power sources , e . g . , sion and compression thereof ; b ) attaching the ankle - foot heavy batteries and motors . The only currently available 65 prosthesis to a lower limb of the amputee ; c ) allowing the system on the market ( iWalk BioM ) is expensive , making it amputee to ambulate for at least one gait cycle , wherein the impractical for the majority of lower limb prosthesis users . gait cycle includes i ) the ankle - foot prosthesis in an initial

US 10 , 376 , 388 B2

neutral position to a first plantarflexion position such that the FIG . 26 is a view similar to FIG . 24 , showing foot flat foot plate is substantially flat on a walking surface , and ii ) adapted to an inclined surface ( ankle dorsiflexed relative to the ankle - foot prosthesis in a toe - off plantarflexion position ; foot flat on a level surface ) ; d ) switching the damper to the high extension setting FIG . 27 is a side cross - sectional view of a fourth embodi substantially at the first plantarflexion position ; and e ) 5 ment of the ankle - foot prosthesis in accordance with the switching the damper to the low extension setting substan - present invention ; tially at the toe - off plantarflexion position . FIG . 28 is a side view of a fifth embodiment of the

In summary , the present invention is directed to a pros - ankle - foot prosthesis in accordance with the present inven thetic ankle - foot device that can automatically adapt its tion ; function for walking on different sloped surfaces , allowing 10 FIG . 29 is a side cross - sectional view of a sixth embodi its user to walk on these surfaces with more stability and ment of the ankle - foot prosthesis in accordance with the confidence . The invention also provides a stable mode for present invention ; standing and swaying tasks ( e . g . , washing the dishes ) . FIG . 30 is side cross - sectional view of a seventh embodi

ment of the ankle - foot prosthesis in accordance with the BRIEF DESCRIPTION OF THE DRAWINGS 15 present invention ;

FIG . 31 is a side cross - sectional view of an eighth One of the above and other aspects , novel features and embodiment of the ankle - foot prosthesis in accordance with

advantages of the present invention will become apparent the present invention ; from the following detailed description of the non - limiting FIG . 32 is side cross - sectional view of a ninth embodi preferred embodiment ( s ) of invention , illustrated in the 20 ment of the ankle - foot prosthesis in accordance with the accompanying drawings , wherein : present invention ;

FIG . 1 is a perspective view of a preferred embodiment of FIG . 33 is a side cross - sectional view of the tenth embodi the ankle - foot prosthesis in accordance with the present ment of the ankle - foot prosthesis in accordance with the invention ; present invention ;

FIG . 2 illustrates a blank timing plot for the ankle - foot 25 FIG . 34 is a side cross - sectional view of an eleventh prosthesis of the present invention , which can be used to embodiment of the ankle - foot prosthesis in accordance with create any gait cycle that begins with prosthetic heel contact the present invention ; and ( HC ) and continues until the next HC ( 100 % of the gait FIGS . 35 - 45 disclose various alternate preferred embodi cycle ) ; ments of the fluid control circuit ( FCC ) used in the present

FIG . 3 illustrates a plot of the theoretical vertical load on 30 invention . the prosthesis ;

FIG . 4 illustrates a plot of the load on spring / damper DETAILED DESCRIPTION OF THE combination at the start of stance phase , the heel of the PREFERRED EMBODIMENT ( S ) OF THE prosthesis making contact with the surface , placing a com INVENTION pressive load on the spring / damper combination ; 35

FIG . 5 illustrates a plot of the damping values in each Referring to FIG . 1 , a preferred embodiment of the direction for the damper during the gait cycle ; ankle - foot prosthesis AFP will be described . As shown , a

FIG . 6 illustrates a plot of the cylinder ( damper ) length ; generally pyramid - like attachment part 10 , consistent with FIG . 7 shows three hydraulic circuit symbols used for standard endoskeletal componentry in prosthetics , is pro

fluid circuit schematics shown in FIGS . 8 - 16 ; 40 vided at the top of a yoke 12 , on the opposite ends of which FIGS . 8 - 16 disclose various preferred embodiments of the are holes drilled for front and rear pivotal attachments 14

fluid control circuit ( FCC ) used in the present invention ; and 16 , respectively . The rear pivot 16 attaches to one end FIG . 17 discloses various types of stiffness or elastic 17 of a preferably microprocessor controlled damper device

members for use in the present invention ; 18 ( to be described in more detail below ) . A neutralizing FIG . 18 is a perspective view of a second embodiment of 45 spring 20 is connected in parallel to the damper 18 , such that

the ankle - foot prosthesis in accordance with the present its length change is equal to that of the damper . invention ; The damper device 18 attaches on its other end 19 to an

FIG . 19 discloses the ankle - foot prosthesis of FIG . 18 , ankle frame 22 , which has a yoke opening 24 and holes showing the ankle in a plantarflexed state ; drilled at its posterior end 26 to pivotally attach to the

FIG . 20 is a view similar to FIG . 19 , showing the ankle 50 damper 18 using a shaft 28 . The " ankle ” of the device AFP in a neutral state , after dorsiflexion from the ankle angle in is a shaft 30 connecting the yoke 12 with the apex 29 of the FIG . 19 , and extension of the stiffness member compared ankle frame 22 . with its position in FIG . 19 ; The ankle frame 22 attaches with one or more bolts ( or

FIG . 21 shows the ankle - foot prosthesis of FIG . 18 , other suitable fixation means ) to the rear portion 32 of a showing the ankle in a neutral state ; 55 flexible , yet deflectable rigid foot plate 34 . The anterior end

FIG . 22 is a view similar to FIG . 21 , showing plantar - 36 of the ankle frame 22 includes a follower or upwardly flexion of the ankle and compression of the stiffness member inclined surface 38 that limits the deflection of the foot plate when compared with its position in FIG . 21 ; 34 , such that the ankle - foot device AFP will take a biomi

FIG . 23 is a rear perspective view of a third embodiment metic ankle - foot roll - over shape during walking . The geom of the ankle - foot prosthesis in accordance with the present 60 etry of the surface 38 is such that it provides the correct invention ; roll - over shape when the " ankle ” is locked into a plantar

FIG . 24 is a cross - sectional view taken along line 24 - 24 flexed angle at the time of foot flat of walking , i . e . , an angle of FIG . 23 , showing foot flat adapted to a declined surface of about 10 to 15 degrees . ( ankle plantarflexed relative to foot flat on a level surface ) ; The damper 18 is designed to have different values for

FIG . 25 is a view similar to FIG . 24 , showing foot flat 65 compression and extension damping that can be controlled adapted to a level surface ( ankle plantarflexed relative to a by using a suitable microprocessor ( not shown ) . Specifically , swing phase ankle angle ) ; the microprocessor would have the capability to variably

US 10 , 376 , 388 B2

manage the timing for opening and closing the valves and limb . At approximately 10 % , the opposite toe is lifted from the variable restriction element , shown in FIG . 7 and the floor ( opposite toe - off or OTO ) . When the opposite toe described below in more detail . For walking , the compres is off the ground , only the prosthetic foot is in contact with sion damping is set to a very low level and is unchanged the walking surface and supporting the weight of the body , throughout the gait cycle . The extension damping for walk - 5 so this is considered prosthetic single - limb - support ( 40 % of ing is set to a very high level at the beginning of the gait the gait cycle ) . This also corresponds to the period of highest cycle and changes to a very low level damping at the time load on the prosthetic limb as the user rolls over their foot . of toe - off ( which must be sensed using one or more sensors At approximately 50 % of the gait cycle , the opposite heel of force , acceleration , or other properties ) . The extension contacts the surface ( OHC ) and weight begins to transition damping can remain at a low level of damping for at least the 10 from the prosthetic limb to the sound limb . At approximately time needed to return the ankle to a neutral or dorsiflexed 60 % of the gait cycle , the prosthetic limb is lifted off the position for swing phase and at most the time to the next foot surface ( toe - off or TO ) and the remainder of the gait cycle flat event of the prosthesis . For standing , both compression is sound side single limb support as the prosthetic limb and extension damping levels can be controlled to be very swings through . ( These numbers are approximate . ) Modern high , providing a flatter effective shape and increasing the 15 conventional usages are changing to use Initial Contact , stability of the prosthesis user . instead of Heel Contact , because the heel is not always the

For a normal gait cycle , the heel of the system , shown in first part of the foot to come into contact with the walking FIG . 1 , will contact the surface and the foot will “ find the surface ( such as persons with drop - foot syndrome or equinus surface ” under a low stiffness of the neutralizing spring 20 . deformity ) , but for this invention the two should be equiva The compression damping is low so the ankle reacts pri - 20 lent . marily in this phase of gait to the neutralizing spring 20 . The FIG . 3 illustrates a plot of the theoretical vertical load on compression damping could be altered for different patients , the prosthesis . The plot shows the standard double - hump but would be static throughout the gait cycle once set by the shape of the vertical component of the ground reaction force prosthetist or the user . After foot flat , the ankle is at a vector from standard gait analyses . The first peak corre maximally plantarflexed position and would normally start 25 sponds to load acceptance on the prosthetic side , where the to dorsiflex . In this invention , the extension damping would prosthesis is used to brake the descent of the body center of be very high , essentially locking the ankle in a plantarflexed mass . The second peak occurs as the user pushes off of their position . As the person rolls over the device , the flexible prosthetic side and begins to transition onto their sound side footplate 34 flexes up to the follower 38 , producing a ( and occurs around opposite heel contact ( OHC ) . The ver biomimetic ankle - foot roll - over shape . After the opposite 30 tical load drops to O as the toe leaves the surface ( toe - off , foot contacts the ground , energy is returned from the flexible TO ) and remains there through swing phase . During single footplate 34 and the ankle goes into late stance plantarflex - limb support , the vertical load can reach levels that are ion ( the angle at which it was set to at foot flat ) . As the greater than body weight . For slow walking , the peak load prosthetic device leaves the walking surface ( toe - off ) , the could be 1 . 1xBW ( Body Weight ) , whereas for fast walking extension damping switches a very low level , allowing the 35 or sudden stumbles the peak load could be upwards of neutralizing spring 20 to bring the ankle back to a neutral or 1 . 5xBW ( Body Weight ) . slightly dorsiflexed position , which allows for toe clearance FIG . 4 illustrates a plot of the load on the spring / damper during the swing phase . The damping level needs to be low combination at the start of stance phase , the heel of the enough to allow the ankle to return to neutral during the first prosthesis making contact with the surface , placing a com third or half of the swing phase . After the ankle has returned 40 pressive load on the spring / damper combination . This load to neutral or a slightly dorsiflexed position and before the continues until the foot is resting flat against the walking prosthesis gets to foot flat on the next cycle , the extension surface . At that time , the user begins to roll over their damping should shift to a very high level for the next cycle . prosthetic foot . The damper is set to a high extension

The operation of the ankle in the manner described above , damping level , so it does not extend , thus the spring allows the foot to " find the surface ” during walking . For 45 becomes an internal stress and when the user starts to roll uphill walking , the foot finds the surface in a more dorsi - over their foot , the compressive load very rapidly switches flexed position compared with that for level walking and to a small tensile load and then the tensile load gradually thus the equilibrium point of the ankle is set in more increases as the user rolls over the foot . Near the end of dorsiflexion . For downhill walking , the foot finds the surface stance phase , the user has rolled over the prosthesis and in a more plantarflexed position compared with that for level 50 begins to lift the foot from the ground , reducing the tensile walking . In this way , the ankle - foot device automatically force on the spring - damper combination , until the toe is adapts to different terrain on each and every step of walking . lifted from the surface . At this point the spring is still Also , the control mechanism for the ankle would be rela - applying an internal force within the system but is unable to tively simple in that it only changes the extension damping actuate motion because the damper is still in a high exten of the damper 18 between two levels during walking . The 55 sion damping state and resists the spring . When the load is control mechanism also needs to determine when the ankle - removed , the hydraulic cutoff valve ( fluid equivalent of a foot system is in " walking ” and “ standing ” modes and switch ) is opened allowing the spring to extend and quickly switch its behavior . For " standing ” mode , the damping for return the foot to a neutral ankle position for swing phase . both compression and extension of the damper 18 should be FIG . 5 illustrates a plot of the damping values in each set to very high , as mentioned earlier . 60 direction for the damper during the gait cycle . In the

Referring to FIGS . 2 - 6 , various timing plots for the direction of compression , the damping during walking ankle - foot prosthesis AFP of the invention will now be should be low enough to allow the foot to quickly reach the described . The blank plot of FIG . 2 can be used to create any surface , but not so low that the foot makes a slapping sound gait cycle that begins with prosthetic heel contact ( HC ) and when it encounters the surface . The precise value will be continues until the next HC ( 100 % of the gait cycle ) . For the 65 dependent on the weight , foot length , and gait mechanics of first 10 % of the gait cycle , both feet are on the ground as each individual user and will parallel standard clinical weight transitions from the opposite limb to the prosthetic practice for adjusting similar properties of other commer

US 10 , 376 , 388 B2

cially available components . Ideally the precise amount of Both lines have independent cutoff valves 44 , allowing the damping will be adjustable by the prosthetist for customi extension damping to be raised to nearly infinite as appro zation to the individual . For long - term standing tasks ( doing priate during each step and then both cutoff valves to be the dishes , standing at a work station at work , etc . ) , an ideal closed for standing tasks , making a stable base of support for embodiment would also be able to raise the compression 5 the user . damping to near infinite ( through the use of a cutoff valve ) FIG . 9 discloses an embodiment that contains all of the to improve stability when loading the heel , however this adjustability of the embodiment of FIG . 8 , but only a single function is not of use during walking tasks . The extension cutoff valve 44 is used on a common line to arrest both damping must be high or nearly infinite ( closed cutoff valve , compression and extension of the damper simultaneously . effectively fixing the length of the damper against extension ) 10 The advantage of this system over FIG . 8 is fewer parts ( one when the user begins to roll over the foot ( in the plot , this fewer cutoff valve ) . The disadvantage of this system com is shown as approximately 5 % of the gait cycle ) and must pared with the embodiment of FIG . 8 is that sensors would remain so until the point of toe - off . At the very beginning of swing phase , the cutoff valve is opened , allowing the damper need to be in place to insure that the cutoff valve would open to extend under the load from the spring until the prosthesis 15 at the time of toe - off and close at exactly the time of foot flat has returned to a neutral position ( ideally within 0 . 13 to prevent unexpected instability and potential falls . seconds ) . After the foot has returned to a neutral position for FIG . 10 discloses an embodiment that is similar to the swing phase , the cutoff valve can be closed again . Thus , the embodiment of FIG . 8 , except it does not have a variable cutoff valve could close as early as 0 . 13 seconds after toe - off restriction element 42 on the extension line . Therefore , there or as late as at the moment of foot flat ( approximated as 5 % 20 is no way to tune the extension damping for neutralization of the next gait cycle , but varies by step and surface after toe - off . This embodiment is more efficient because of conditions ) the reduced number of components ( saving weight , size and

FIG . 6 illustrates a plot of the cylinder ( damper ) length . cost ) but only if the fluid circuit can be optimized to allow The current model of the novel ankle - foot prosthesis has a the foot to return to neutral within 0 . 13 seconds without damper with a fully extended length of 70 mm , and a fully 25 oscillating or making loud noises when it reaches the neutral compressed length of 50 mm . This corresponds to a 30 - 35 position . This system retains the ability to cutoff both degree range of ankle motion . Other designs may use compression and extension for standing tasks . different numbers , however the relationships will still hold . FIG . 11 discloses an embodiment similar to the embodi When walking on level ground , the ankle will plantarflex , ments presented in both FIGS . 9 - 10 , however , it lacks the allowing the foot plate to become flat on the walking 30 ability to adjust extension damping and has a single cutoff surface , during the first approximately 5 - 10 % of the gait valve 44 to arrest motion in both extension and compression cycle . Once the foot is flat on the surface and the user begins simultaneously . This is even more efficient , having removed to roll over the foot , the damper is unable to extend , so the two components from the system and saving weight , size , spring - damper combination remains at its partially extended and cost . length throughout the remainder of stance phase . When the 35 The embodiment of FIG . 12 is similar to the embodiment prosthesis is lifted from the ground ( TO ) , the cutoff valve is of FIG . 8 , except that it does not have a cutoff valve 44 in opened and the spring returns the foot to a neutral position the compression line . For this reason , the compression for swing phase . When walking uphill , the foot will be flat damping will remain constant throughout the gait cycle and on the surface in a more dorsiflexed position , so the foot will compression motion will not be arrested during standing not plantarflex much during early stance , whereas when 40 tasks . Both lines have adjustable damping from the variable walking downhill the foot will plantarflex much more before restriction elements and the extension line still has a cutoff it is flat on the surface . valve . This embodiment could be realized in a purely

FIG . 7 shows three hydraulic circuit symbols used for passive system , where the biomechanics of walking ( e . g . fluid circuit schematics shown in FIGS . 8 - 16 . The symbol load on the prosthesis ) control the opening and closing of the used for the check valve 40 is most commonly used to refer 45 cutoff valve . For example , a spring - loaded hinge or tele to a ball valve , although other types of check valves may scoping element within the prosthesis could close the cutoff also be used . The variable restriction 42 is the damping valve when load is applied to the prosthesis and open the element of the circuit . There is some damping ( fluid resis - cutoff valve when load is removed from the prosthesis . It tance ) due to friction in the lines and passing through other would not be practical to rely on this type of physical input elements of the circuit , so there is a minimum level of 50 to control the compression line for standing tasks , so none damping regardless . Thus , in some embodiments , the of the previous embodiments would be practical for purely restriction element is not present indicating the use of innate passive operation . damping alone . The reference numeral 44 designates a cutoff The embodiment of FIG . 13 is similar to the embodiments value . of FIGS . 10 and 12 , however , it also lacks the ability to

FIG . 8 discloses the most complex and powerful embodi - 55 adjust the damping in the extension line but saves weight , ment of the fluid control circuit ( FCC ) . The fluid circuit size , and cost . But it lacks the ability to cutoff the compres splits into two branches . Each branch has a check valve 40 sion line and therefore does not have the standing stability oriented to permit fluid flow in either compression or feature of the earlier embodiments . extension alone , thereby separating the extension and com The embodiment of FIG . 14 is similar to the embodiment pression properties for the damper . In the compression line , 60 of FIG . 8 , but lacks variable dampers 42 . The level of there is provided a variable restriction element 42 , where the resistance for compression can be adjusted by the prosthetist prosthetist could adjust the damping level to optimize the by changing springs or by pre - compressing the spring . prosthesis for the individual patient . In the extension line , Otherwise the function would be the same . there is also a variable restriction element 42 that could be The embodiment of FIG . 15 is similar to the embodiment adjusted to tune the neutralization damping after toe - off to 65 of FIG . 9 , but lacks variable dampers 42 . The level of address any issues with the speed of neutralization or with resistance for compression can be adjusted by the prosthetist noises that could arise from underdamped neutralization . by changing springs or by pre - compressing the spring .

US 10 , 376 , 388 B2 10

FIG . 16 shows our simplest embodiment . There is a check ankle - foot device AFP2 will take a biomimetic ankle - foot valve 40 to permit compression , but not extension , and then roll - over shape during walking . The geometry of the surface when the foot is to be neutralized the cutoff valve is opened , 96 is similar to and functions in the same manner as the permitting extension by bypassing the check valve 40 . surface 38 described above with respect to the embodiment Ideally the cutoff valve 44 would be mechanically opened 5 shown in FIG . 1 . and closed by loads applied during the gait cycle , resulting As best shown in FIGS . 19 - 22 , the front end 66 of the in a purely passive system with no batteries , microproces yoke 64 remains free , while the rear end thereof 68 is sors , or other electronic components , though this could be connected to the damper 74 . As shown in FIGS . 19 - 20 , the actuated by a solenoid or other actuator and controlled by damper 74 extends during dorsiflexion , and compresses electronics . 10 during plantarflexion , as shown in FIGS . 21 - 22 .

FIGS . 17 - 45 are directed to various alternate embodi - The third embodiment of the ankle - foot prosthesis AFP3 , ments of the stiffness / elastic members , the ankle - foot pros - shown in FIGS . 23 - 26 , is similar to the second embodiment thesis , and the fluid control circuits used in the present shown in FIGS . 18 - 22 , except that the upper end 72 of the invention . By way of a summary : FIG . 17 discloses illus - damper 74 is pivotally connected to the front end portion 66 trative examples of stiffness / elastic members ; FIG . 18 - 22 15 of the yoke 64 , leaving the rear end portion 68 thereof free . show a second embodiment of the ankle - foot prosthesis In addition , as best shown in FIG . 23 , the damper 74 , along AFP2 that is similar to the embodiment shown in FIG . 1 ; with the extension spring 52 extends through the yoke FIGS . 23 - 26 show a third embodiment of the ankle - foot opening 80 , from the posterior end portion 82 of the ankle prosthesis AFP3 , in which the damper device is connected to frame 78 , towards the front thereof . As shown in FIG . 24 the front end portion of the yoke ; FIG . 27 discloses a fourth 20 ( with cosmetic cover CC ) , the foot flat is adapted to a embodiment of the ankle - foot prosthesis AFP4 , in which the declined surface DS ( the ankle plantarflexed relative to foot damper and the spring are positioned in the front of the yoke ; flat on a level surface ) , with the spring 52 more extended . FIGS . 28 - 33 disclose fifth to tenth embodiments of the Likewise , as shown in FIG . 25 ( with cosmetic cover CC ) , ankle - foot prosthesis AFP5 - AFP10 , respectively , wherein the foot flat is adapted to a level surface LS ( the ankle the stiffness member is separate from the damper device ; 25 plantarflexed relative to a swing phase of ankle angle ) , with FIG . 34 discloses the eleventh embodiment of the ankle - foot normal extension of spring 52 . In the same manner , as prosthesis AFP11 , in which the damper device is connected shown in FIG . 26 ( with cosmetic cover CC ) , the foot flat is to a rear portion of the yoke ; and FIGS . 35 - 45 disclose adapted to an inclined surface IS ( the ankle dorsiflexed alternate embodiments of the fluid control circuits . ( It is relative to foot flat on a level surface ) , with less extension of noted herewith that for clarity , similar components have 30 the spring 52 . This configuration provides a long rest length been designated by the same reference numerals in the for the damper . embodiments shown in FIGS . 18 - 34 . Further , similar com FIG . 27 discloses a fourth embodiment of the ankle - foot ponents of the FCCs shown in FIGS . 8 - 16 , have been prosthesis AFP4 , wherein the damper device 74 and the designated by the same reference numerals in FIGS . 35 - 45 . ) spring 52 are both positioned in the anterior end portion 94

Referring to FIG . 17 , various types of stiffness members 35 of the ankle frame 78 , and the upper end 72 of the damper can be used . Representative non - limiting examples include is pivotally connected to the front end portion 66 of the yoke a compression spring 50 , an extension spring 52 , a com - 64 . This configuration offers a short action of the damper and pression tube spring 54 , an extension tube spring 56 , a the stiffness member . curved leaf spring 58 , and an elastic bumper 60 . As noted above , FIGS . 28 - 33 disclose fifth through tenth

Referring to FIGS . 18 - 22 , a second embodiment of the 40 embodiments of the ankle - foot prosthesis AFP5 to AFP10 , ankle - foot prosthesis AFP2 will now be described . As wherein the stiffness member ( for example , spring 52 ) is shown , an attachment part 62 , consistent with endoskeletal positioned separate from the damper device 74 . In particular , componentry in prosthetics , is provided at the top of a yoke FIG . 28 discloses the fifth embodiment AFP5 , wherein the 64 for attaching to a prosthetic leg PL ( see FIG . 19 , for spring 52 is wedged between the front end portion 66 of the example ) . The yoke 64 includes front and rear end portions 45 yoke 64 , and the anterior end portion 94 of the ankle frame 66 and 68 , respectively , and a fulcrum point 70 therebe 74 . This configuration allows varying sizes / lengths for the tween . The rear end portion 68 is pivotally attached to an stiffness member and adjustability thereof independent of upper end 72 of a preferably microprocessor - controlled the damper , thus offering easier customization to a specific damper device 74 , via a shaft 75 . The damper device 74 is user . similar to and functions in the same manner as the damper 50 FIG . 29 discloses the sixth embodiment of ankle - foot 18 , described above . Preferably , a compression spring 50 is prosthesis AFP6 , wherein the extension tube spring 56 connected in parallel to the damper 74 , such that its length functions as the stiffness member that is secured in place by change is equal to that of the damper . As shown , the a pin 98 in a recess 100 of the ankle frame 78 . It is noted that compression spring 50 extends during dorsiflexion ( FIG . the extension tube spring 56 may be substituted by other 20 ) , and compresses during plantarflexion ( FIG . 22 ) . 55 types of stiffness members , such as elastic tensile , cord / loop ,

The damper device 74 attaches on its lower end 76 to an similar to a bundle of rubber bands . ankle frame 78 , which has a yoke opening 80 and holes FIG . 30 discloses the seventh embodiment of the ankle drilled at its posterior end 82 to pivotally attach to the foot prosthesis AFP7 , which is similar to the fifth embodi damper device 74 via a shaft 84 . As noted above with respect ment of FIG . 28 , except that the spring 50 is positioned to the embodiment disclosed in FIG . 1 , the “ ankle ” of the 60 between the rear end portion 68 of the yoke 64 , and an device AFP2 is a shaft 86 that connects the fulcrum point 70 abutment 102 of the ankle frame 78 . In addition , the posi of the yoke 64 with the apex 88 of the ankle frame 78 . tioning of the damper 74 is similar to that shown in the third

The ankle frame 78 attaches with one or more bolts ( or embodiment AFP3 of FIG . 23 . other suitable fixation means ) to the rear portion 90 of a FIGS . 31 - 33 disclose eighth , ninth and tenth embodi flexible foot plate 92 . The anterior end 94 of the ankle frame 65 ments of the ankle - foot prosthesis AFP8 , AFP9 , AFP10 , 78 includes a follower or upwardly inclined surface 96 that which are similar to the embodiments shown in FIG . 30 , limits the deflection of the foot plate 92 , such that the except that the spring 50 is substituted by a curved leaf

US 10 , 376 , 388 B2

spring 58 , a compression tube spring 54 , and an elastic seconds without oscillating or making loud noises when it bumper 60 , respectively . Additionally , the damper device 74 reaches the neutral position . This system retains the ability is positioned in the same manner as in the third embodiment to cutoff both compression and extension for standing tasks . shown in FIG . 23 , offering the advantage ( s ) of a long rest FIG . 39 discloses an embodiment similar to the embodi length for the damper . 5 ments presented in both FIGS . 37 - 38 , however , it lacks the

The eleventh embodiment of the ankle - foot prosthesis ability to adjust compression damping and has a single AFP11 , shown in FIG . 34 , is somewhat similar to the fourth cutoff valve 44 to arrest motion in both extension and embodiment of FIG . 27 , except that the upper end 72 of the compression simultaneously . This is even more efficient , damper 74 is pivotally connected to the rear end portion 68 having removed two components from the system and of the yoke 64 , and the lower end 76 of the damper 74 is 10 saving weight , size , and cost . pivotally connected to the ankle frame 78 , adjacent the The embodiment of FIG . 40 is similar to the embodiment anterior end portion 94 thereof . This configuration offers the of FIG . 36 , except that it does not have a cutoff valve 44 in advantage ( s ) of providing a more compact arrangement of the extension line . For this reason , the extension damping components that will more easily fit within a cosmetic cover will remain constant throughout the gait cycle and extension and shoe . 15 motion will not be arrested during standing tasks . Both lines

Referring now to FIGS . 35 - 45 , showing fluid control have adjustable damping from the variable restriction ele circuits ( FCC ) . FIG . 35 illustrates a simple embodiment , but ments and the compression line still has a cutoff valve 44 . that requires precise control to achieve the intended function This embodiment could be realized in a purely passive of the ankle . FIG . 35 is a simpler version of FIG . 15 . It works system , where the biomechanics of walking ( e . g . load on the identically to the FCC in FIG . 15 , but does not require the 20 prosthesis ) control the opening and closing of the cutoff two check valves 40 shown in FIG . 15 . The cutoff valve 44 valve 44 . For example , a spring - loaded hinge or telescoping must be open from toe - off until foot flat of the prosthesis , element within the prosthesis could close the cutoff valve 44 then it must be closed from foot flat until toe - off . The FCC when load is applied to the prosthesis and open the cutoff depictions in FIGS . 8 - 16 and 35 pertain to embodiments valve 44 when load is removed from the prosthesis . It would where the damper connects to the rear portion of the yoke 68 25 not be practical to rely on this type of physical input to ( as in FIGS . 1 , 18 - 22 , 28 , 29 , and 34 ) , whereas the FCC control the extension line for standing tasks , so none of the depictions in FIGS . 36 - 45 pertain to embodiments where the previous embodiments would be practical for purely passive damper connects to the front portion of the yoke 66 ( as in operation . FIGS . 23 - 27 and 30 - 33 ) . The embodiment of FIG . 41 is similar to the embodiments

FIG . 36 discloses the most complex and powerful 30 of FIGS . 38 and 40 , however , it also lacks the ability to embodiment of the fluid control circuit ( FCC ) . The fluid adjust the damping in the compression line but saves weight , circuit splits into two branches . Each branch has a check size , and cost . But it lacks the ability to cutoff the extension valve 40 oriented to permit fluid flow in either compression line and therefore does not have the standing stability feature or extension alone , thereby separating the extension and of the earlier embodiments . compression properties for the damper . In the extension line , 35 The embodiment of FIG . 42 is similar to the embodiment there is provided a variable restriction element 42 , where the of FIG . 36 , but lacks variable dampers 42 . The level of prosthetist could adjust the damping level to optimize the resistance for extension can be adjusted by the prosthetist by prosthesis for the individual patient . In the compression line , changing springs or by pre - compressing the spring . Other there is also a variable restriction element 42 that could be wise the function would be the same . adjusted to tune the neutralization damping after toe - off to 40 The embodiment of FIG . 43 is similar to the embodiment address any issues with the speed of neutralization or with of FIG . 37 , but lacks variable dampers 42 . The level of noises that could arise from underdamped neutralization resistance for extension can be adjusted by the prosthetist by Both lines have independent cutoff valves 44 , allowing the changing springs or by pre - compressing the spring . compression damping to be raised to nearly infinite as FIG . 44 shows a simple embodiment . There is a check appropriate during each step ( by selectively closing the 45 valve 40 to permit extension , but not compression , and then compression line cutoff valve ) and then both cutoff valves to when the foot is to be neutralized the cutoff valve is opened , be closed for standing tasks , making a stable base of support permitting compression by bypassing the check valve 40 . for the user . Ideally , the cutoff valve 44 would be mechanically opened

FIG . 37 discloses an embodiment that contains all of the and closed by loads applied during the gait cycle , resulting adjustability of the embodiment of FIG . 36 , but only a single 50 in a purely passive system with no batteries , microproces cutoff valve 44 is used on a common line to arrest both sors , or other electronic components , though this could be compression and extension of the damper simultaneously . actuated by a solenoid or other actuator and controlled by The advantage of this system over FIG . 36 is fewer parts electronics . ( one fewer cutoff valve ) . The disadvantage of this system FIG . 45 shows our simplest embodiment , but that requires compared with the embodiment of FIG . 36 , is that sensors 55 precise control to achieve the intended function of the ankle , would need to be in place to ensure that the cutoff valve 44 and is a simpler version of FIG . 43 . It works identically to would open at the time of toe - off and close at exactly the the FCC in FIG . 43 , but does not require the two check time of foot flat to prevent unexpected instability and valves 40 shown in FIG . 43 . potential falls . While this invention has been described as having pre

FIG . 38 discloses an embodiment that is similar to the 60 ferred sequences , ranges , steps , order of steps , materials , embodiment of FIG . 36 , except it does not have a variable structures , symbols , indicia , graphics , color scheme ( s ) , restriction element 42 on the compression line . Therefore , shapes , configurations , features , components , or designs , it there is no way to tune the compression damping for is understood that it is capable of further modifications , uses neutralization after toe - off . This embodiment is more effi - and / or adaptations of the invention following in general the cient because of the reduced number of components ( saving 65 principle of the invention , and including such departures weight , size and cost ) but only if the fluid circuit can be from the present disclosure as those come within the known optimized to allow the foot to return to neutral within 0 . 13 or customary practice in the art to which the invention

US 10 , 376 , 388 B2 13 14

pertains , and as may be applied to the central features i ) said anterior portion of said ankle frame including a hereinbefore set forth , and fall within the scope of the curved surface inclined upwardly relative to said foot invention and of the limits of the claims appended hereto or plate and forwardly toward said forward deflectable presented later . The invention , therefore , is not limited to the portion of said foot plate ; and preferred embodiment ( s ) shown / described herein . 5 j ) said curved surface forming a roll - over surface for

limiting a dorsiflexion deflection of said forward REFERENCES deflectable portion of said foot plate by a direct engage

ment therewith . The following references , and any cited in the disclosure 2 . The ankle - foot prosthesis of claim 1 , wherein :

herein , are hereby incorporated herein in their entirety by 10 a ) said fluid control circuit includes a cutoff valve for reference . allowing dorsiflexion and plantarflexion of the ankle . 1 . Hansen , A . , Childress , D . , Miff , S . , Gard , S . , Mesplay , K . 3 . The ankle - foot prosthesis of claim 2 , wherein :

( 2004 ) The Human Ankle During Walking : Implications a ) said cutoff valve allows movement of the ankle during for Design of Biomimetic Ankle Prostheses and Orthoses . a gait cycle between prosthetic side toe off and the next Journal of Biomechanics , Vol . 37 , No . 10 , 1467 - 1474 . 15 prosthetic side foot flat .

2 . Williams R J , Hansen A H , Gard S A . ( 2009 ) Prosthetic 4 . The ankle - foot prosthesis of claim 2 , wherein : Ankle - Foot Mechanism Capable of Automatic Adaptation a ) said cutoff valve allows compression of said damper to the Walking Surface . Journal of Biomechanical Engi during a gait cycle at least between prosthetic side toe neering , Vol . , 131 , No . 3 , 035002 . off and 0 to 0 . 13 seconds thereafter .

3 . Hansen A , Brielmaier S , Medvec J , Pike A , Nickel E , 20 . 5 . The ankle - foot prosthesis of claim 2 , further compris Merchak P , Weber M ( 2012 ) Prosthetic Foot with Adjust able Stability and its Effects on Balance and Mobility . a ) at least one check valve for said fluid control circuit for 38th Annual Meeting and Scientific Symposium of the allowing extension of said damper . American Academy of Orthotists and Prosthetists , March 6 . The ankle - foot prosthesis of claim 1 , further compris 21 - 24 , Atlanta . Ga .

4 . Nickel E A , Hansen A H , Gard S A . ( 2012 ) Prosthetic a ) at least one variable fluid - flow resistor for said fluid Ankle - Foot System that Adapts to Sloped Surfaces . control circuit for adjusting hydraulic fluid resistance in ASME Journal of Medical Devices , Vol . 6 , No . 1 , 011006 . plantarflexion . What is claimed is : 7 . The ankle - foot prosthesis of claim 1 , wherein : 1 . An ankle - foot prosthesis , comprising : 30 a ) said stiffness member comprises a spring or an elastic

member . a ) a foot plate including a rear portion and a forward deflectable portion ; 8 . The ankle - foot prosthesis of claim 7 , wherein :

b ) an ankle frame including anterior and posterior por a ) said spring is selected from the group consisting of a

tions and an apex portion ; compression spring , an extension spring , a compres c ) said posterior portion of said ankle frame attached to 35 sion tube spring , an extension tube spring , and a curved

said rear portion of said foot plate ; leaf spring . d ) a yoke including front and rear end portions , and a 9 . The ankle - foot prosthesis of claim 1 , wherein :

fulcrum point therebetween ; a ) said ankle frame is generally U - shaped in cross - section . e ) said yoke pivotally connected to said apex portion of 10 . The ankle - foot prosthesis of claim 9 , wherein :

said ankle frame at the fulcrum point thereof and 40 a ) said hydraulic damper extends through said ankle including a member for attaching to a prosthetic leg ; frame .

f ) a hydraulic damper having a first end pivotally con 11 . The ankle - foot prosthesis of claim 9 , wherein : nected to the front end portion of said yoke and a a ) said stiffness member comprises a spring disposed second end pivotally connected to said posterior por generally concentric with said hydraulic damper .

45 . tion of said ankle frame ; 12 . The ankle - foot prosthesis of claim 11 , wherein : g ) a stiffness member disposed in parallel to said damper ; a ) said stiffness member and said hydraulic damper h ) a fluid control circuit for controlling extension and extend through said ankle frame .

compression of said damper ;

25 ing :

( 12 ) united states patent ( 10 ) patent no . : us 10 , 376 ......us010376388b2 ( 12 ) united...

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