Force and torque sensor for prosthetic and orthopedic devices
Inventors
Lenzi, Tommaso • GABERT, Lukas
Assignees
University of Utah • University of Utah Research Foundation Inc
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Publication Number
US-12379266-B2
Publication Date
2025-08-05
Expiration Date
Abstract
The present disclosure describes sensor devices that can be readily integrated with prosthetic devices to provide sensing of force and torque applied to the prosthetic device during use. The sensor device includes an adaptor section that readily connects to standard prosthetic components and a base section. The base section has a deflectable portion and a fixed portion. Cantilevers in the deflectable portion house magnets and corresponding Hall effect sensors are housed in the fixed portion. When axial and/or torsional forces are applied, the cantilevers deflect relative to the fixed section and the Hall effect sensors provide a corresponding output that correlates to the axial and/or torsional forces applied.
Core Innovation
The invention relates to a sensor device configured for measuring applied force and torque. The sensor device comprises a base section with a deflectable portion having an inner point and one or more cantilevers extending outward in a coplanar fashion from the inner point, and a fixed portion spaced apart from the deflectable portion so that the cantilevers are deflectable relative to the fixed portion.
The deflectable portion and the fixed portion are mechanically coupled by a pillar extending between the inner point and the fixed portion. The fixed portion includes at least one support bracket extending from or attached directly to the fixed portion, where the support bracket comprises an aperture configured to receive an outer portion of a corresponding cantilever and to limit deflection of the corresponding cantilever in response to a torsional force imparted to the corresponding cantilever by movement of a user.
The cantilever deflection relative to the fixed portion is measured by a plurality of sensing components. In the documented implementation, the plurality of sensing components includes at least one magnet and at least one corresponding Hall effect sensor, and the sensing components are arranged such that output from the Hall effect sensor relates to deflection of the one or more cantilevers relative to the fixed portion.
Claims Coverage
Two independent claims define a cantilever-based force/torque sensor with five inventive features.
Coplanar cantilever deflectable portion coupled to a fixed portion
A sensor device comprising a base section with a deflectable portion having an inner point and one or more cantilevers extending outward in a coplanar fashion from the inner point, and a fixed portion spaced apart from the deflectable portion such that the one or more cantilevers are deflectable relative to the fixed portion.
Pillar mechanical coupling between the inner point and the fixed portion
A pillar extending between the inner point of the deflectable portion and the fixed portion to mechanically couple the deflectable portion to the fixed portion.
Apertured support bracket limiting cantilever deflection under torsional force
The fixed portion includes at least one support bracket extending from or attached directly to the fixed portion, the support bracket comprising an aperture configured to receive an outer portion of a corresponding cantilever and to limit deflection of the corresponding cantilever in response to a torsional force imparted to the corresponding cantilever by movement of a user.
Sensing components configured to measure cantilever deflection relative to the fixed portion
A plurality of sensing components configured to measure deflection of the one or more cantilevers relative to the fixed portion.
Hall-effect magnet sensing arranged to relate magnetic field strength to cantilever deflection
The plurality of sensing components includes at least one magnet and at least one corresponding Hall effect sensor configured to measure magnetic field strength resulting from a distance between the Hall effect sensor and the corresponding magnet, wherein output from the Hall effect sensor relates to deflection of the one or more cantilevers relative to the fixed portion.
Overall, the claims center on measuring force and torque via deflection of coplanar cantilevers of a deflectable portion relative to a fixed portion, mechanically coupled by a pillar, with cantilever deflection limited by apertured support brackets and measured by sensing components, including a magnet-Hall effect sensor arrangement.
Stated Advantages
Compact force and torque measurement is enabled by sensing cantilever deflection via magnet-Hall sensor distance changes.
Documented Applications
Integration with prosthetic or orthopedic devices, including locating the sensor device at an ankle joint and optionally at a knee joint.
Measuring torque in multiple planes via additional cantilevers or plate/disk deflectable structures with distributed sensing components.
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