Electric elbow

Claim 2

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell end coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits wherein the improvement comprises: a raceway inserted between the planetary rollers and the flexspline whereby the torque load within the flexspline is distributed and the load concentration under the planetary rollers is decreased.

Claim 3

An improved prosthetic joint, as in claim 1, wherein the permanent magnet electric motor comprises a bell wound servo motor.

Claim 4

An improved prosthetic joint, as in claim 1, wherein the permanent magnet electric motor comprises a torque servo motor.

Claim 5

An improved prosthetic joint, as in claim 1, wherein the planetary roller reduction harmonic drive wave generator further comprises a smooth surface shaft or sunroller in intimate contact with the planetary rollers constrained by a wave generator body whereby the forces between the sun and planets generated by the harmonic drive are balanced.

Claim 6

An improved prosthetic joint, as in claim 4, wherein the wave generator body comprises: a. mounted on the body of the motor at the output and, a bearing; b. mounted on the bearing a collar; and c. means for mounting the planetary rollers on the collar and in intimate contact with the shaft.

Claim 7

An improved prosthetic joint, as in claim 4, further comprising a bi-directional no back drive driven lock mounted between the motor output and the shaft or sun roller whereby the motor can drive the sun in either direction but the sun should lock against the housing if it is used to drive the motor.

Claim 8

An improved prosthetic joint device as in claim 6, wherein an electric spring brake is mounted on the motor output shaft.

Claim 9

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell end coaxial the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits wherein the improvement comprises: a raceway molded into the flexspline whereby the load concentration under the planetary rollers is decreased and the torque load is distributed by the flexspline.

Claim 10

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell end coaxial the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits wherein the improvement comprises: a raceway molded into the flexspline whereby the load concentration under the planetary rollers is decreased and the torque load is distributed by the flexspline.

Claim 11

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell end coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits wherein the improvement comprises: an overload release mounted between the bell end of the flexspline and the output tang.

Claim 12

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell end coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits wherein the improvement comprises: an overload release mounted between the bell end of the flexspline and the output tang.

Claim 13

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell and coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power off at the limits wherein the improvement comprises: a. in part a quick disconnect section wherein is placed a battery pack; b. a thermal cut out switch is mounted on the battery pack; c. a resistor is attached in parallel with and in intimate contact with the thermal cut out causing it to act as a thermal holding relay; and d. the thermal cut out is connected to a battery charger socket in the improved prosthetic joint housing, whereby the battery may be rapidly charged and when fully charged can be maintained by a continuous trickle charge.

Claim 14

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell and coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power off at the limits wherein the improvement comprises: a. in part a quick disconnect section wherein is placed a battery pack; b. a thermal cut out switch is mounted on the battery pack; c. a resistor is attached in parallel with and in intimate contact with the thermal cut out causing it to act as a thermal holding relay; and d. the thermal cut out is connected to a battery charger socket in the improved prosthetic joint housing, whereby the battery may be rapidly charged and when fully charged can be maintained by a continuous trickle charge.

Claim 15

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell and coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits wherein the improvement comprises: a. attached to the output tang, externally to the joint a driven artificial limb such as a forearm: b. opposite to the output tang on the surface of the joint, a means of pivotally attaching said driven artificial limb, and c. a means to counterbalance the weight of the driven artificial limb mounted in the means for pivotally attaching said driven artificial limb.

Claim 16

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell and coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits wherein the improvement comprises: a. attached to the output tang, externally to the joint a driven artificial limb such as a forearm: b. opposite to the output tang on the surface of the joint, a means of pivotally attaching said driven artificial limb, and c. a means to counterbalance the weight of the driven artificial limb mounted in the means for pivotally attaching said driven artificial limb.

Claim 17

An improved prosthetic joint, as in claim 11, wherein the counterbalancing means is spring loaded.

Claim 18

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell and coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits wherein the limit assembly further comprises: a. a lead from a battery to the first microswitch at a normally closed contact; b. a lead from a common contact of the first microswitch to the motor; c. a lead from the motor to a common contact of the second microswitch; d. a lead from a normally closed contact of the second microswitch to another terminal of the battery; e. a lead connecting a normally opened contact of the first microswitch to a normally opened contact of the second microswitch; f. a diode connecting the lead connecting the normally open contacts to each other to the leads connecting the normally closed contacts and the battery; and g. a diode connecting the lead connecting the normally open contacts to each other to each of the leads connecting the common contacts and the motor.

Claim 19

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell and coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits wherein the limit assembly further comprises: a. a lead from a battery to the first microswitch at a normally closed contact; b. a lead from a common contact of the first microswitch to the motor; c. a lead from the motor to a common contact of the second microswitch; d. a lead from a normally closed contact of the second microswitch to another terminal of the battery; e. a lead connecting a normally opened contact of the first microswitch to a normally opened contact of the second microswitch; f. a diode connecting the lead connecting the normally open contacts to each other to the leads connecting the normally closed contacts and the battery; and g. a diode connecting the lead connecting the normally open contacts to each other to each of the leads connecting the common contacts and the motor.

Claim 20

An improved prosthetic joint device comprising: a. a two piece housing of 40% fiberglass reinforced polycarbonate forming an internal rigid spline; b. a flexspline meshed within said housing with said rigid spline; c. two planetary roller bearings in contact with the interior of said flexspline; d. a shaft between said rollers and in intimate contact with each roller; e. a servo motor attached to said shaft whereby said shaft is driven; f. a bearing around said motor body at the shaft end; g. a collar around and on the shaft face of said bearing; h. screws for mounting said planetary rollers screwed into said collar whereby to constrain the planets to be at 180 degrees from each other and in intimate contact with said shaft; i. an output tang mounted axially on and perpendicular to the teeth of the flexspline;

Claim 21

An improved prosthetic joint device comprising: a. a two piece housing of 40% fiberglass reinforced polycarbonate forming an internal rigid spline; b. a flexspline meshed within said housing with said rigid spline; c. two planetary roller bearings in contact with the interior of said flexspline; d. a shaft between said rollers and in intimate contact with each roller; e. a servo motor attached to said shaft whereby said shaft is driven; f. a bearing around said motor body at the shaft end; g. a collar around and on the shaft face of said bearing; h. screws for mounting said planetary rollers screwed into said collar whereby to constrain the planets to be at 180 degrees from each other and in intimate contact with said shaft; i. an output tang mounted axially on and perpendicular to the teeth of the flexspline;

Claim 22

j. limit actuating screws mounted on the interior of said output tang; k. a limit actuating assembly comprising two microswitches and associated electronic circuitry mounted in said housing whereby said limit actuating screw may operate said microswitch; l. a thermal cut out and thermal resistor in parallel therewith mounted on a battery whereby said battery may be recharged and maintained on a trickle charge when fully charged, said battery connected to said limit activating switches; m. a charger receptical electrically connected to said thermal cut out whereby said battery may be charged; and n. a pivotal mounting on the housing opposite said output tang for pivoting a driven artificial extremity such as a forearm.

Claim 23

j. limit actuating screws mounted on the interior of said output tang; k. a limit actuating assembly comprising two microswitches and associated electronic circuitry mounted in said housing whereby said limit actuating screw may operate said microswitch; l. a thermal cut out and thermal resistor in parallel therewith mounted on a battery whereby said battery may be recharged and maintained on a trickle charge when fully charged, said battery connected to said limit activating switches; m. a charger receptical electrically connected to said thermal cut out whereby said battery may be charged; and n. a pivotal mounting on the housing opposite said output tang for pivoting a driven artificial extremity such as a forearm.

Claim 24

An improved prosthetic joint device as in claim 14, wherein the servo motor is a torque servo motor, wherein the flexspline is made of steel, wherein a bi-directional no back drive driven lock is inserted between the torque servo motor and the shaft and an overload release is mounted between the bell end of the flexspline and the output tang.

Claim 25

An improved prosthetic joint device as in claim 15, wherein a baseplate is mounted joining the two housings and a hollow screw is provided in the baseplate connecting the joint to the conventional type humeral turntable prosthesis, and the battery thermal cutout and the charging socket are mounted in said conventional type humeral prosthesis.

Claim 26

An improved prosthetic joint device, as in claim 15, wherein the housing forms an integrally molded quick disconnect, wherein the battery is mounted in the quick disconnect section of the housing a and wherein said charging socket is mounted in the housing of said prosthetic joint.

Claim 27

An improved prosthetic joint device as in claim 14, wherein said flexspline is of acetal resin, wherein a steel raceway is inserted in said flexspline between said flexspline and said planetary rollers, wherein the servo motor is bell wound and wherein a counterbalance is mounted in said pivotal mounting, whereby a terminal device may be counterbalanced.

Claim 28

An improved prosthetic joint device, as in claim 18, wherein a baseplate is mounted joining the two housings and a hollow screw is provided in the baseplate connecting the joint to the conventional type humeral turntable prosthesis, and the battery and thermal cut out and the charging socket are mounted in said conventional type humeral prosthesis.

Claim 29

An improved prosthetic joint device, as in claim 18, wherein the housing forms an integrally molded quick disconnect, wherein the battery is mounted in the quick disconnect section of the housing and wherein said charging socket is mounted in the housing of said prosthetic joint.

Claim 30

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell end coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits, wherein the planetary roller reduction harmonic drive wave generator further comprises a smooth surface shaft or sunroller in intimate contact with the planetary rollers constrained by a wave generator body whereby the forces between the sun and planets generated by the harmonic drive are balanced, wherein the wave generator body is further improved, comprising the formation within the wave generator body of a channel between the attachment of the shaft and the attachment of each planetary roller, said channel being perpendicular to the line between the attachments of the planets and shaft and sufficiently long to make the planets movable (preloaded) relative to the shaft whereby the planets and shaft can be kept in intimate contact throughout an extended lifetime.

Claim 31

An improved prosthetic joint comprising: a housing forming an internal rigid circular spline internally meshing with a flexible member, forming externally a spline and internally a circular cavity, said cavity containing a permanent magnet electric motor driving a planetary roller reduction harmonic drive wave generator, said flexible member, comprising an open cylindrical section closed on one end by a planar section (the bell end) forming a rigid output tang on the bell end coaxial with the axis of revolution of the flexible member (flexspline), and a limit assembly within the housing comprising two microswitches and four Diodes, whereby the motor may be shunted and power shut off at the limits, wherein the planetary roller reduction harmonic drive wave generator further comprises a smooth surface shaft or sunroller in intimate contact with the planetary rollers constrained by a wave generator body whereby the forces between the sun and planets generated by the harmonic drive are balanced, wherein the wave generator body is further improved, comprising the formation within the wave generator body of a channel between the attachment of the shaft and the attachment of each planetary roller, said channel being perpendicular to the line between the attachments of the planets and shaft and sufficiently long to make the planets movable (preloaded) relative to the shaft whereby the planets and shaft can be kept in intimate contact throughout an extended lifetime.