This disclosure relates to ankle-foot prosthetic devices, and, more particularly, to ankle-foot prosthetic devices that allow quick and easy exchange of footwear having different heel heights.
The population of Veterans with amputations is steadily increasing, with the majority of these Veterans having lower-limb amputations. So, too, the female Veteran population is growing, with recent data indicating that over 2 million Veterans are women. The majority of commercially available prosthetic feet can only be used with shoes of a single heel height. Current heel-height adjustable prosthetic feet suffer from a range of disadvantages including that they can only be used within a narrow range of heel heights and require manual alignment changes by the user. Thus, there is a need for an easy-to-use, inexpensive, and lightweight prosthetic device for individuals with lower-limb amputations that is compatible with a variety of shoes of different heel heights.
Disclosed herein, in various aspects, are ankle assemblies that comprise a resilient joint subassembly and an endoskeletal connector. The resilient joint subassembly can be configured for at least partial receipt within a receptacle defined by a prosthetic foot having a longitudinal axis and toe and heel portions spaced apart relative to the longitudinal axis. The endoskeletal connector can be secured to the resilient joint subassembly and configured for mechanical coupling with a prosthetic leg. Upon receipt of the resilient joint subassembly within the receptacle of the prosthetic foot, the resilient joint subassembly can be configured to permit pivotal movement of the endoskeletal connector from a start position relative to a transverse pivot axis that is perpendicular or oblique to the longitudinal axis of the prosthetic foot. Upon pivotal movement of the endoskeletal connector in a forward direction toward the toe portion of the prosthetic foot or in a rearward direction toward the heel portion of the prosthetic foot, the resilient joint subassembly can be configured to apply a return force to urge the endoskeletal connector toward the start position.
Also disclosed are foot-ankle systems that comprise a prosthetic foot and an ankle assembly. The prosthetic foot can define a receptacle and have a longitudinal axis and toe and heel portions spaced apart relative to the longitudinal axis. The ankle assembly can have a resilient joint subassembly and an endoskeletal connector. The resilient joint subassembly can be configured for at least partial receipt within the receptacle of the prosthetic foot. The endoskeletal connector can be secured to the resilient joint subassembly and configured for mechanical coupling with a prosthetic leg. Upon receipt of the resilient joint subassembly within the receptacle of the prosthetic foot, the resilient joint subassembly can be configured to permit pivotal movement of the endoskeletal connector from a start position relative to a transverse pivot axis that is perpendicular or oblique to the longitudinal axis of the prosthetic foot. Upon pivotal movement of the endoskeletal connector in a forward direction toward the toe portion of the prosthetic foot or in a rearward direction toward the heel portion of the prosthetic foot, the resilient joint subassembly can be configured to apply a return force to urge the endoskeletal connector toward the start position.
Also disclosed are methods comprising using a foot-ankle system as disclosed herein.
These and other features and advantages of the present invention will become more readily apparent when taken into consideration with the following description, the attached drawings, and the claims.
The present disclosure can be understood more readily by reference to the following detailed description of the invention, the figures and the examples included herein.
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. Indeed, this invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. Like numbers refer to like elements throughout. It is to be understood that this invention is not limited to the particular methodology and protocols described, as such may vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present invention.
Many modifications and other embodiments of the invention set forth herein will come to mind to one skilled in the art to which the invention pertains having the benefit of the teachings presented in the foregoing description and the associated drawings. Therefore, it is to be understood that the invention is not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Moreover, it is to be understood that unless otherwise expressly stated, it is in no way intended that any method set forth herein be construed as requiring that its steps be performed in a specific order. Accordingly, where a method claim does not actually recite an order to be followed by its steps or it is not otherwise specifically stated in the claims or descriptions that the steps are to be limited to a specific order, it is in no way intended that an order be inferred, in any respect. This holds for any possible non-express basis for interpretation, including matters of logic with respect to arrangement of steps or operational flow, plain meaning derived from grammatical organization or punctuation, and the number or type of aspects described in the specification.
All publications mentioned herein are incorporated herein by reference to disclose and describe the methods and/or materials in connection with which the publications are cited. The publications discussed herein are provided solely for their disclosure prior to the filing date of the present application. Nothing herein is to be construed as an admission that the present invention is not entitled to antedate such publication by virtue of prior invention. Further, the dates of publication provided herein can be different from the actual publication dates, which can require independent confirmation.
As used in the specification and the appended claims, the singular forms “a,” “an” and “the” include plural referents unless the context clearly dictates otherwise.
The word “or,” as used herein, means any one member of a particular list and also includes any combination of members of that list.
Throughout the description and claims of this specification, the word “comprise” and variations of the word, such as “comprising” and “comprises,” means “including but not limited to,” and is not intended to exclude, for example, other additives, components, integers, or steps. In particular, in methods stated as comprising one or more steps or operations it is specifically contemplated that each step comprises what is listed (unless that step includes a limiting term such as “consisting of”), meaning that each step is not intended to exclude, for example, other additives, components, integers, or steps that are not listed in the step.
Ranges can be expressed herein as from “about” or “approximately” one particular value, and/or to “about” or “approximately” another particular value. When such a range is expressed, a further aspect includes from the one particular value and/or to the other particular value. Similarly, when values are expressed as approximations, by use of the antecedent “about,” or “approximately,” it will be understood that the particular value forms a further aspect. It will be further understood that the endpoints of each of the ranges are significant both in relation to the other endpoint and independently of the other endpoint. It is also understood that there are a number of values disclosed herein and that each value is also herein disclosed as “about” that particular value in addition to the value itself. For example, if the value “10” is disclosed, then “about 10” is also disclosed. It is also understood that each unit between two particular units is also disclosed. For example, if 10 and 15 are disclosed, then 11, 12, 13, and 14 are also disclosed. Similarly, in some optional aspects, when values are approximated by use of the term “generally” or “substantially,” it is contemplated that values within up to 15%, up to 10%, or up to 5% (above or below) of the particular value can be included within the scope of those aspects.
As used herein, the terms “optional” or “optionally” mean that the subsequently described event or circumstance may or may not occur and that the description includes instances where said event or circumstance occurs and instances where it does not.
Disclosed herein, in various aspects, and with reference to
Most commercially available prosthetic feet are designed for use with shoes of a fixed heel height. The prescribing clinician and the patient select an appropriate prosthetic foot and the fitting of the prosthesis is clinically optimized for the prosthetic foot-shoe combination. In these instances, deviation of shoe heel height should not occur after the prosthesis is aligned because it will negatively affect the gait of the user. Thus, once the prosthetic foot is aligned with a particular shoe, the patient is effectively limited to wearing a single shoe design, and, in contrast to the devices disclosed herein, there is no mechanism for freely and efficiently disconnecting the prosthetic leg of the patient to permit selective connection of the prosthetic leg with other (different) prosthetic foot/shoe combinations.
There are three ankle-foot systems currently on the prosthetics market that allow the user to change shoe heel heights between 0 to 2 inches. All heel height adjustable prosthetic ankle-foot systems have an ankle joint that allows a change in the sagittal plane alignment. A button can be pressed by the prosthesis user, allowing the ankle to rotate to a new angle, and then the button is pressed in the opposite direction to lock in the new alignment for shoes of different heel heights. The standard procedure is to have the prosthetist align the system with a particular pair of shoes and then educate the prosthesis user on how to change the alignment for shoes with different heel heights.
Current heel height adjustable ankle-foot prostheses can only accommodate a range of shoe heel heights between 0 and 2 inches, primarily because their plantar insole shape does not change with a change in the sagittal plane ankle alignment. Notably, most able-bodied women who wear high heels use heels much higher than 2 inches. Indeed, some able-bodied women wear high heels that are 5 inches or higher. Recently, an ankle with larger range of motion than current heel height adjustable ankle-foot prostheses was reported. However, the plantar insole surface of the feet does not adapt to match the insole shape of high heel footwear. This mismatch can cause instability, reduced durability of the foot and shoe, and is not cosmetically appealing.
Ankle Assemblies
Disclosed herein, in various aspects, and with reference to
Optionally, in various aspects, and with reference to
Optionally, in various aspects, and with reference to
The first spring 14 and the second spring 18 can differ from one another in at least one of size, stiffness, material, and size of the opening. Thus, in a further aspect, the first spring 14 and the second spring 18 can differ from one another in size. In a still further aspect, the first spring 14 and the second spring 18 can differ from one another in stiffness. For example, the first spring 14 and the second spring 18 can each have a respective rotational stiffness of from about 10 N*m to about 325 N*m, selected according to the body mass of the user. Thus, in various aspects, the first spring 14 (i.e., the spring in the forefoot region) can be stiffer than the second spring 18 (i.e., the spring in the heel region). This can be desirable, for example, to mimic the natural movement of a user. In yet a further aspect, the first spring 14 and the second spring 18 can differ from one another in material. For example, the first spring 14 and the second spring 18 can independently comprise one or more materials selected from steel, stainless steel, titanium, fiber reinforced composites (e.g., glass, aramid, and carbon fibers and various matrix materials), and rubber. In an even further aspect, the first spring 14 and the second spring 18 can differ from one another in the size of the opening, which optionally can be measured as the portion of the circumference of the spring corresponding to the location of the opening (i.e., the circumferential length of the gap between spaced portions of the spring that form the opening). In a still further aspect, the first spring 14 and the second spring 18 can differ from one another in more than one of size, stiffness, material, and size of the opening. In yet a further aspect, the first spring 14 and the second spring 18 can be approximately the same with respect to size, stiffness, material, and size of the opening.
Optionally, in various aspects, and with reference to
Optionally, in additional aspects, the base 50 can be provided as a portion of a carriage 52 that is configured to support the resilient joint subassembly 12. In these aspects, as shown in
Optionally, in various aspects, and with reference to
In exemplary aspects, and as shown in
Optionally, in various aspects, and with reference to
As previously discussed, it is contemplated that the resilient joint subassembly can further comprise opposed first and second spring elements 34, 36 that are spaced apart relative to the longitudinal axis 84 of the prosthetic foot 80. As shown in
In exemplary aspects, it is contemplated that the ankle body 210 can be configured to conform to the shape of the receptacle in the prosthetic foot to allow for quick attachment of the ankle to the foot. Optionally, in exemplary aspects, it is contemplated that the ankle body 210 can comprise one or more metal, alloy, or composite materials, including, for example and without limitation, aluminum alloy (e.g., ANSI Al-6062-T6 or AL-2024), steel, titanium, titanium alloy (e.g., Grade 5 Titanium alloy), magnesium, or carbon fiber-based composite materials. Optionally, in further aspects, it is contemplated that the endoskeletal connector 40 (and, optionally, a portion of the upper portion 202 of the mount body 200) can extend above the ankle body 210.
In further exemplary aspects, it is contemplated that the size of the receptacle in the prosthetic foot can be slightly larger than the size of the ankle body. For example, following insertion of the ankle body into the prosthetic foot, it is contemplated that the ankle body can have from about 0.002 to about 0.020 inches or about 0.010 inches of clearance on each side of the ankle body. This minimal clearance ensures that there is intimate contact between the bottom surfaces of the ankle body and the receptacle. Optionally, a small fastener (e.g., a screw) can retain the two pieces together in the same manner disclosed in
In various embodiments, the spring elements are described herein as first and second spring elements. However, it should be understood that the present disclosure contemplates the use of a single spring element within the disclosed ankle assemblies. For example, it is contemplated that the spring elements can be provided in the form of a single bumper that extends circumferentially about the lower portion of a mount (or mount body) as disclosed herein.
Optionally, in various aspects, and with reference to
In use, when the patient effects pivotal movement of the endoskeletal connector 40 from the start position to a front position, the first spring (or spring element (e.g., bumper)) can be configured to compress to have a reduced diameter (in response to the force applied, either directly or indirectly, by the endoskeletal connector 40 and/or the mount body). As the patient ceases forward pivotal movement, the energy stored by the first spring (or spring element) can be released to return the first spring to its initial position (and also assist with returning the endoskeletal connector towards the start position). Similarly, when the patient effects pivotal movement of the endoskeletal connector 40 from the start position to a rear position, the second spring (or spring element) can be configured to compress to have a reduced diameter (in response to the force applied, either directly or indirectly, by the endoskeletal connector 40). As the patient ceases rearward pivotal movement, the energy stored by the second spring (or spring element) can be released to return the second spring (or spring element) to its initial position (and also assist with returning the endoskeletal connector towards the start position).
In use, it is contemplated that the first spring element and the second spring element (when provided) can be configured to operate in a similar manner to the first and second springs disclosed herein, with the first spring element storing and releasing energy to assist with returning the endoskeletal connector towards the start position after forward pivotal movement and the second spring element storing and releasing energy to assist with returning the endoskeletal connector towards the start position after rearward pivotal movement.
Thus, in use, during the early stance phase of walking, the ankle assembly rotates backward toward the heel of the prosthetic foot, assisting in shock absorption. As the user moves forward, the energy in the heel of the prosthetic foot is returned to the ankle assembly. The first spring is then compressed as the ankle assembly rotates forward toward the toe of the prosthetic foot. After the opposite foot contacts the ground, the energy in the first spring element or first spring is released back to the user, assisting in the swing phase and/or the forward propulsion of the user.
As further disclosed herein, and with reference to
Without wishing to be bound by theory, it is contemplated that use of a device for providing biomimetic roll-over shape during walking as disclosed herein can be insensitive to problems encountered by other types of prosthetic systems including, but not limited to a restricted range of motion and user-manipulated alignment.
Foot-Ankle Systems
Also disclosed herein, in various aspects and with reference to
Optionally, in various aspects, and with reference to
Optionally, in various aspects, and with reference to
In use, it is contemplated that the recessed surfaces of the insert 100 can be configured to define respective slots or grooves for receiving a complementary portion of the resilient joint assembly 12 (e.g., end portions of the base 50 or base portion 30 as further disclosed herein) to thereby secure the resilient joint assembly 12 within the receptacle 82.
Optionally, in various aspects, and with reference to
Optionally, in various aspects, and with reference to
Without wishing to be bound by theory, it is contemplated that use of a system for use with different heel heights as disclosed herein can avoid and/or eliminate problems encountered by other types of prosthetic systems including, but not limited to compatibility with a restricted range of heel heights and user-manipulated alignment.
Method of Using the Foot-Ankle System
Further disclosed herein are methods of using the disclosed devices and systems. Thus, in one aspect, disclosed is a method of using a foot-ankle system as disclosed herein and as illustrated in
Optionally, in various aspects, and with reference to
Optionally, in various aspects, and with reference to
Optionally, in various aspects, the method further comprises decoupling the ankle assembly 10 from the prosthetic foot 80 and removing the resilient joint subassembly 12 from the receptacle 82 of the prosthetic foot 80.
Optionally, in various aspects, the prosthetic foot 80 is a first prosthetic foot and the method can further comprise inserting at least a portion of the resilient joint subassembly 12 of the ankle assembly 10 within the receptacle 82 of a second prosthetic foot and mechanically coupling the ankle assembly 10 to the second prosthetic foot. In a further aspect, the second prosthetic foot can have a different shape (e.g., outer profile, height, or angular orientation) than the first prosthetic foot. See, e.g.,
Importantly, the devices, systems, and methods disclosed herein can allow for easily changing between shoes of different heel heights without the need for alignment by the user. Additionally, it is contemplated that the disclosed devices, systems, and methods can be effective at closely fitting the plantar shape of a shoe and thus, providing a natural roll-over shape. Further, it is contemplated that the disclosed devices, systems, and methods can be used in a wide range of heel heights while also providing easier fabrication and easier use in comparison with current prosthetic feet.
A method for measuring the effective rocker shapes of human and prosthetic ankle-foot systems during walking was developed. Briefly, this method involves the transformation of the center of pressure (CoP) of the ground reaction force from a laboratory-based coordinate system to a shank-based coordinate system. In the shank (lower-leg) frame of reference, the CoP draws out the net loading locations on the floor during the stepping cycle (initial contact to opposite initial contact), providing an effective rocker shape that the ankle-foot system conforms to during walking.
Ankle-foot-shoe roll-over shapes of ten able-bodied women, each walking in three different heel height shoes were measured. The ankle-foot-shoe roll-over shapes did not change appreciably in the radius or forward positioning, but primarily shifted downward in the shank-based coordinate systems, reflecting the difference in overall height of the women when walking in the different footwear (Hansen and Childress (2004) J. Rehabil. Res. Dev. 41(4): 547-54). It was later discovered that the able-bodied ankle adapts its motion to different shoe rocker radii to maintain similar ankle-foot-shoe roll-over shapes for level walking (Wang and Hansen (2010) J. Biomech. 43(12): 2288-93).
Seven transtibial prosthesis users, each walking with four different prosthetic feet, were evaluated. The prosthetic feet were intentionally chosen to have a wide variation in roll-over shapes, such that removal of one and replacement with the next (without changes in alignment) would lead to dramatic changes in the roll-over shape in the prosthetic socket frame of reference. After alignment by a highly experienced certified prosthetist, the roll-over shapes of the prosthetic feet were found to nest together toward a theoretical “ideal” roll-over shape for the patient, suggesting the prosthetist is aligning feet toward an “ideal” shape (Hansen et al. (2003) Prosthet. Ortho. Int. 27(2): 89-99).
To determine the effects of different heel height shoes on prosthetic foot roll-over shapes, seven prosthetic feet with a “no heel” shoe (flat sole) and a “low heel” shoe were evaluated. Without alignment adjustments, all of the prosthetic feet had roll-over shapes that were dramatically altered with the different heel height shoes, with rotations of their roll-over shapes in the shank-based reference frame. One of the seven prosthetic feet was a heel height adjustable system named the Total Concept. The Total Concept was tested, first without making adjustments for the alignment, and then again after making alignment adjustments for the low heel shoe. After adjusting the alignment, the roll-over shapes for the two shoes were nearly parallel, mimicking roll-over shapes for able-bodied ankle-foot-shoe systems (Hansen and Childress (2009) J. of Prosthetics and Orthotics 21(1): 48-54).
Using the knowledge gained from previous studies, low-cost prosthetic feet that were designed to take a biomimetic roll-over shape when used with different footwear and that could be interchanged without a change in alignment were tested. Without wishing to be bound by theory, shoe insole shapes were independent of shoe size and depended only on the heel height of the shoe (i.e., the difference between heel height and forefoot height). A mathematical relationship was developed that closely matched the plantar insole shapes of shoes as a function of the heel height (
The Shape&Roll Talon feet were tested in three women between the ages of 51 and 65 years. Each woman was asked to bring in one pair of shoes with a flat heel and two high heel shoes, each of their choosing. Talon feet were created for each heel height shoe and the women were instructed on how to interchange the feet. The feet were designed to accommodate the heel height of the shoes such that no alignment changes would be needed when changing from one foot to the next. The women in the study used the feet for five weeks and were encouraged to change feet as many times as they desired. When returning at the end of the five week trial, the women reported changing their feet between once per week to twice a day. The subjects also expressed that they were delighted with the concept and were happy to have had the opportunity to try the prototypes (Meier et al. (2014) J. Rehabil. Res. Dev. 51(3): 439-50).
During the study, it was observed that many high heel shoes are extremely stiff between the heel and the forefoot. Although the Shape&Roll Talon was designed to flex along the length of the forefoot (by closing of gaps in the forefoot; see
A mathematical model was developed to determine the ankle stiffness levels that could be used with a rigid foot keel to mimic the roll-over shape of able-bodied ankle-foot systems during walking. The model assumes a load (W) applied to the bottom of the foot, which starts anterior to the ankle joint center and progresses toward the toes of the foot (
Based on the ankle stiffness modeling results described herein above, a biomimetic ankle-foot system with rigid keels and flexible ankles was designed. A 3D-printed keel made of rigid ULTEM™ plastic was connected to a flexible ankle. This ankle-foot system was then tested under walking loads and shown to provide a biomimetic ankle-foot roll-over shape for walking (
Data collection of eighteen Veterans with transtibial amputation was conducted. Veterans used the bimodal ankle-foot system for a short time in a laboratory setting. Walking speed and time to complete the L-Test was collected for both their usual prosthetic foot and the bimodal ankle-foot system with ankle unlocked. The flexible ankle rigid keel system did not produce any significant change to mobility of the subjects in terms of walking speed and L-Test times (p>0.05 for both comparisons). Without wishing to be bound by theory, these data suggest the rigid keel flexible ankle approach is functionally viable.
Small lightweight ankle mechanisms: An ankle with high energy storage and return that will be appropriate for active prosthesis users can be designed. Specifically, an ankle joint that uses two mirrored “C” springs can be developed as shown in
Initial designs of the energy storage and return ankle can be developed in SolidWorks software, with finite element analyses to guide the structural design of the “C” springs. After an initial design is finished, the design can be fabricated and tested in a load frame to determine if the desired rotational stiffness was achieved. Design iterations can continue until the desired ankle stiffness is achieved. ISO 10328 ultimate strength testing can also be done with early designs to find weak points and to refine the design as needed.
In an alternative approach, a single-axis design with rubber spring elements can be used (similar to the design described above for the bimodal ankle project). As detailed above, the current bimodal ankle design was well-liked by the majority of subjects, with 25 some preferring the design to their current energy storage and return prosthetic feet.
The ankle stiffness model shown in
Other constraints for the ankle can be developed based on tests within the American Orthotics and Prosthetists Association (AOPA) Prosthetic Foot Project (September, 2010), which is incorporated herein by reference in its entirety. This document describes a wide variety of mechanical tests that can be conducted to assist in the recommendation for different L-coding of prosthetic feet.
Lightweight quick-attach mechanisms for exchanging feet: A quick-attach system that allows the user to exchange feet using only a single bolt and without needing to remove the foot from most shoes can be developed. This approach has a tapered rigid receiver in the posterior “heel” region of the foot. This tapered connection can receive the highest tensile stresses on the posterior aspect during the late stance phase of walking. The anterior portion of the foot can have a threaded region with a single bolt (using a threaded insert). The distal end of the ankle can have a taper to fit within the receiver of the foot in the heel region, and can have an angled surface on the anterior end to interface with the single bolt (
In another example, with reference to
In view of the described products, systems, and methods and variations thereof, herein below are described certain more particularly described aspects of the invention. These particularly recited aspects should not, however, be interpreted to have any limiting effect on any different claims containing different or more general teachings described herein, or that the “particular” aspects are somehow limited in some way other than the inherent meanings of the language literally used therein.
Aspect 1: An ankle assembly comprising:
Aspect 2: The ankle assembly of aspect 1, wherein the resilient joint subassembly comprises opposed first and second springs spaced apart relative to the longitudinal axis of the prosthetic foot.
Aspect 3: The ankle assembly of aspect 2, wherein the first and second springs comprise first and second C-springs that define respective openings that permit compression of the first and second C-springs in response to movement of the endoskeletal connector.
Aspect 4: The ankle assembly of aspect 2 or aspect 3, wherein the first and second springs are different in at least one of the following properties: size; stiffness; material; and size of opening.
Aspect 5: The ankle assembly of aspect 3, wherein the first C-spring is positioned between the second C-spring and the toe portion of the prosthetic foot relative to the longitudinal axis of the prosthetic foot, wherein the opening of the first C-spring faces the toe portion of the prosthetic foot, and wherein the opening of the second C-spring faces the heel portion of the prosthetic foot.
Aspect 6: The ankle assembly of any one of aspects 2-5, further comprising a base secured to the first and second springs, wherein the first and second springs are positioned between the base and the endoskeletal connector relative to a vertical axis.
Aspect 7: The ankle assembly of aspect 1, wherein the resilient joint subassembly comprises a mount having:
Aspect 8: The ankle assembly of aspect 7, wherein the resilient joint subassembly further comprises opposed first and second spring elements spaced apart relative to the longitudinal axis of the prosthetic foot, wherein each of the first and second spring elements is secured to and extends between the endoskeletal connector and the top surface of the base portion of the second mount component.
Aspect 9: The ankle assembly of aspect 8, wherein the first spring element is positioned between the second spring element and the toe portion of the prosthetic foot relative to the longitudinal axis of the prosthetic foot, wherein the second spring element is positioned between the first spring element and the heel portion of the prosthetic foot relative to the longitudinal axis of the prosthetic foot, and wherein the second spring element is less rigid than the first spring element.
Aspect 10: The ankle assembly of any one of the preceding aspects, wherein the endoskeletal connector is a pyramid connector.
Aspect 11: A foot-ankle system comprising:
Aspect 12: The foot-ankle system of aspect 11, wherein the resilient joint subassembly comprises opposed first and second springs spaced apart relative to the longitudinal axis of the prosthetic foot.
Aspect 13: The foot-ankle system of aspect 12, wherein the first and second springs comprise first and second C-springs that define respective openings that permit compression of the first and second C-springs in response to movement of the endoskeletal connector.
Aspect 14: The foot-ankle system of aspect 12 or aspect 13, wherein the first and second springs are different in at least one of the following properties: size; stiffness; material; and size of opening.
Aspect 15: The foot-ankle system of aspect 13, wherein the first C-spring is positioned between the second C-spring and the toe portion of the prosthetic foot relative to the longitudinal axis of the prosthetic foot, wherein the opening of the first C-spring faces the toe portion of the prosthetic foot, and wherein the opening of the second C-spring faces the heel portion of the prosthetic foot.
Aspect 16: The foot-ankle system of any one of aspects 12-15, wherein the ankle assembly further comprises a base secured to the first and second springs, wherein the first and second springs are positioned between the base and the endoskeletal connector relative to a vertical axis.
Aspect 17: The foot-ankle system of aspect 11, wherein the resilient joint subassembly of the ankle assembly comprises a mount having:
Aspect 18: The foot-ankle system of aspect 17, wherein the resilient joint subassembly of the ankle assembly further comprises opposed first and second spring elements spaced apart relative to the longitudinal axis of the prosthetic foot, wherein each of the first and second spring elements is secured to and extends between the endoskeletal connector and the top surface of the base portion of the second mount component.
Aspect 19: The foot-ankle system of aspect 18, wherein the first spring element is positioned between the second spring element and the toe portion of the prosthetic foot relative to the longitudinal axis of the prosthetic foot, wherein the second spring element is positioned between the first spring element and the heel portion of the prosthetic foot relative to the longitudinal axis of the prosthetic foot, and wherein the second spring element is less rigid than the first spring element.
Aspect 20: The foot-ankle system of any one of aspects 11-19, wherein the endoskeletal connector is a pyramid connector.
Aspect 21: The foot-ankle system of any one of aspects 11-20, wherein interior surfaces of the prosthetic foot define the receptacle of the prosthetic foot, and wherein the resilient joint subassembly of the ankle assembly is shaped to complementarily engage at least a portion of the interior surfaces of the prosthetic foot.
Aspect 22: The foot-ankle system of aspect 21, wherein the prosthetic foot defines an opening through which the ankle assembly is inserted into the receptacle of the prosthetic foot, and wherein the interior surfaces of the prosthetic foot comprise a rear surface that is recessed in a rearward direction relative to the opening of the prosthetic foot.
Aspect 23: The foot-ankle system of aspect 21 or aspect 22, wherein the ankle assembly comprises a base secured to the first and second springs, wherein the first and second springs are positioned between the base and the endoskeletal connector relative to a vertical axis, and wherein the prosthetic foot defines a bore extending between an exterior surface of the prosthetic foot and the receptacle, wherein the bore is configured to receive a fastener that selectively engages the base within the receptacle of the prosthetic foot.
Aspect 24: The foot-ankle system of aspect 23, further comprising a screw or bolt that is configured for selective receipt within and selective removal from the bore defined by the prosthetic foot.
Aspect 25: The foot-ankle system of any one of aspects 11-20, wherein interior surfaces of the prosthetic foot define the receptacle of the prosthetic foot, wherein the prosthetic foot further comprises an insert that engages the interior surfaces of the receptacle of the prosthetic foot, and wherein the resilient joint subassembly of the ankle assembly is shaped to complementarily engage at least a portion of the insert of the prosthetic foot.
Aspect 26: The foot-ankle system of aspect 25, wherein the prosthetic foot defines an opening through which the ankle assembly is inserted into the receptacle of the prosthetic foot, and wherein the insert of the prosthetic foot comprises a rear surface that is recessed in a rearward direction relative to the opening of the prosthetic foot.
Aspect 27: The foot-ankle system of aspect 25 or aspect 26, wherein the ankle assembly comprises a base secured to the first and second springs, wherein the first and second springs are positioned between the base and the endoskeletal connector relative to a vertical axis, and wherein the prosthetic foot defines a bore extending between an exterior surface of the prosthetic foot and the receptacle, wherein the bore is configured to receive a fastener that selectively engages the base within the receptacle of the prosthetic foot.
Aspect 28: The foot-ankle system of aspect 27, further comprising a screw or bolt that is configured for selective receipt within and selective removal from the bore defined by the prosthetic foot.
Aspect 29: A method comprising:
Aspect 30: The method of aspect 29, wherein using the foot-ankle system comprises:
Aspect 31: The method of aspect 30, wherein the endoskeletal connector of the ankle assembly is mechanically coupled to a prosthetic leg.
Aspect 32: The method of aspect 30 or aspect 31, wherein the prosthetic foot is positioned within a shoe before the ankle assembly is coupled to the prosthetic foot.
Aspect 33: The method of any one of aspects 30-32, further comprising:
Aspect 34: The method of aspect 33, wherein the prosthetic foot is a first prosthetic foot, the method further comprising:
Aspect 35: The method of aspect 34, wherein the second prosthetic foot has a different shape than the first prosthetic foot.
Aspect 36: The method of aspect 34 or aspect 35, wherein the second prosthetic foot is positioned within a shoe before the ankle assembly is coupled to the second prosthetic foot.
Aspect 37: The ankle assembly of aspect 1, further comprising an ankle body having inner surfaces that are configured to receive at least a portion of the resilient joint subassembly and outer surfaces that are configured to engage interior surfaces of a receptacle of the prosthetic foot, wherein the resilient joint subassembly comprises a mount having:
Aspect 38: The ankle assembly of aspect 37, wherein the resilient joint subassembly further comprises opposed first and second spring elements spaced apart relative to the longitudinal axis of the prosthetic foot, wherein each of the first and second spring elements engages one or more inner surfaces of the ankle body, and wherein the lower portion of the mount body is positioned between and engagement with the first and second spring elements.
Aspect 39: The foot-ankle system of aspect 11, further comprising an ankle body having inner surfaces that are configured to receive at least a portion of the resilient joint subassembly and outer surfaces that are configured to engage interior surfaces of the receptacle of the prosthetic foot, wherein the resilient joint subassembly comprises a mount having:
Aspect 40: The foot-ankle system of aspect 39, wherein the resilient joint subassembly further comprises opposed first and second spring elements spaced apart relative to the longitudinal axis of the prosthetic foot, wherein each of the first and second spring elements engages one or more inner surfaces of the ankle body, and wherein the lower portion of the mount body is positioned between and engagement with the first and second spring elements.
This is a U.S. National Phase Application of International Application No. PCT/US2019/037513, filed Jun. 17, 2019, which claims priority to and the benefit of the filing date of U.S. Provisional Application No. 62/686,268, filed Jun. 18, 2018, and U.S. Provisional Patent Application No. 62/837,397, filed Apr. 23, 2019. Both of these provisional applications are incorporated herein by reference in their entireties.
This invention was made with government support from the Department of Veterans Affairs Rehabilitation Research and Development Service. The government has certain rights in the invention.
Filing Document | Filing Date | Country | Kind |
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PCT/US2019/037513 | 6/17/2019 | WO |
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WO2019/245981 | 12/26/2019 | WO | A |
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