Class / Patent application number | Description | Number of patent applications / Date published |
623047000 | Ankle | 41 |
20080262635 | Prosthetic Ankle Joint Mechanism - A self-aligning prosthetic foot and ankle assembly has an ankle unit pivotally mounting a foot component. The ankle unit contains a hydraulic piston and cylinder assembly having a piston which is linearly movable within a cylinder. The axis of the cylinder is coincident with a shin axis defined by a shin connection interface on the ankle unit. Bypass passages containing damping resistance control valves provide continuous hydraulic damping of dorsi and plantar ankle flexion, the unit being such that, over the major part of the range of damped movement, there is no resilient biasing in either the dorsi or the plantar direction. This confers a number of advantages, including stabilisation of standing, balance control, and improved stair-walking and ramp-walking. | 10-23-2008 |
20090018669 | Articulating Prosthetic Ankle Joint - According to some embodiments, the present description relates to a prosthetic articulating ankle joint. The ankle joint may include a horseshoe shaped component. The horseshoe shaped component may include an anterior gap to allow dorsiflexion, a posterior portion, at least one lateral indentation in the posterior portion to allow eversion or inversion, at least one orifice in a top to allow attachment to a pylon, and at least one orifice in a bottom to allow attachment to a foot. Other embodiments in the description relate to a prosthetic limb including such an ankle joint and a foot and a pylon. In some embodiments, the horseshoe shaped component may be C-shaped. The disclosure also relates to methods for making a prosthetic articulating ankle joint and methods to make a prosthetic limb comprising a prosthetic articulating ankle joint. | 01-15-2009 |
20090048687 | METHOD FOR PLACING A MALLEOLAR IMPLANT FOR PARTIAL OR TOTAL ANKLE PROSTHESIS - A method for implanting a malleolar implant in an ankle joint. A spacer block is positioned between a lower portion of a tibia and an upper portion of an astragalus in the ankle joint. A guide attached to the spacer block is positioned opposite an outer surface of a fibular malleolus. A bore aligned with the guide is formed through the fibular malleolus. The spacer block is removed from between the tibia and the astragalus. A shank of the malleolar implant is engaged with the bore from an inner surface of the fibular malleolus. The shank is advanced into the bore so an inner surface of a head of the malleolar implant engages the inner surface of the fibular malleolus. | 02-19-2009 |
20090088868 | Low-profile lower leg prosthetic devices - A lower leg prosthetic device includes an ankle assembly coupled to a foot assembly via a rigid pin extending through an oversized shaft having a pair of resilient bushings partially seated therein, which resiliently limit the relative pivot of the foot and ankle assemblies about axes orthogonal to that of the pin. A pair of cushions disposed between the assemblies forward and rearward of the pin resiliently limits relative pivot of the assemblies about the pin axis. The foot assembly includes an elongate, planar plantar member mounted to and extending forwardly of a support element having a comparatively lower elastic modulus. The foot assembly cooperates with the coupling assembly to absorb stride-related forces in a graduated manner by relative forward pivoting of the ankle assembly relative in a first phase of striding motion, and by upward flexion of the forward end of the plantar member in a second phase. | 04-02-2009 |
20100030343 | Bi-modal ankle-foot device - A bi-modal ankle-foot device that provides a curved effective shape appropriate for walking and a flattened effective shape for standing. The bi-modal ankle-foot device includes a foot piece and a lockable ankle joint connected to the flat foot piece, the ankle joint and foot piece cooperating to provide a curved shape for walking when the ankle joint is unlocked and to provide a flattened shape for standing when the ankle joint is locked. | 02-04-2010 |
20100114332 | ANKLE JOINT STRUCTURE OF WALKING ASSISTANCE DEVICE - An ankle joint structure of a walking assistance device is capable of protecting a user from feeling uncomfortable by properly following the foot motions of the user. An ankle joint has a turn shaft member enabling a ground contact assembly to turn relative to a leg link, a lateral rotation shaft member enabling the ground contact assembly to laterally rotate relative to the leg link, and a longitudinal rotation shaft member enabling the ground contact assembly to longitudinally rotate relative to the leg link. The turn shaft member is connected to the leg link, the longitudinal rotation shaft member is connected to the ground contact assembly, and the lateral rotation shaft member is disposed between the turn shaft member and the longitudinal rotation shaft member. | 05-06-2010 |
20100185301 | EQUILIBRIUM-POINT PROSTHETIC AND ORTHOTIC ANKLE-FOOT SYSTEMS, DEVICES, AND METHODS OF USE - The present invention relates to a system for use in rehabilitation and/or physical therapy for the treatment of injury or disease. The system can enable an amputee to proceed over any surface without overbalancing. In particular the system is self-adapting to adjust the torque moment depending upon the motion, the extent of inclination, and the surface topography. | 07-22-2010 |
20110166674 | ANKLE PROSTHESIS - The invention relates to a prosthetic or orthetic device ( | 07-07-2011 |
20110218648 | FASTENING SYSTEM FOR PROSTHESES - A system for fastening prosthetic implants such as ankle prostheses is provided. The ankle prosthesis includes: a talar implant having a body for mounting to a top of a talus and with at least one talar fastening hole; a tibial implant having a plate for mounting to a bottom of a tibia, a flange extending from the plate for bearing against an anterior surface of the tibia, the flange comprising at least one tibial fastening hole; a mobile bearing for positioning between the talar implant and the tibial implant; and a plurality of fasteners for locking engagement with the at least one talar fastening hole and the at least one tibial fastening hole, each of the fasteners comprising locking means and an elongated unthreaded body. | 09-08-2011 |
20110224804 | SYSTEMS AND METHODS FOR ACTUATING A PROSTHETIC ANKLE - Systems and methods for sensing actuating a prosthetic ankle are disclosed. In one example, the system, such as an actuated prosthetic ankle joint, detects that the user has moved to a relaxed position, such as sitting, reclining, crawling, or leaning. In response, the actuated prosthetic ankle joint actively adjusts the angle between the members of the ankle to a relaxed state. The system may further detect when the user has moved to exit the relaxed position, and may actively adjust the angle between the members of the ankle to an exit state. | 09-15-2011 |
20110230975 | PROSTHETIC ANKLE AND FOOT COMBINATION - A prosthetic ankle and foot combination has an ankle joint mechanism constructed to allow damped rotational movement of a foot component relative to a shin component. The mechanism provides a continuous hydraulically damped range of ankle motion during walking with dynamically variable damping resistances, and with independent variation of damping resistances in the plantar-flexion and dorsi-flexion directions. An electronic control system coupled to the ankle joint mechanism includes at least one sensor for generating signals indicative of a kinetic or kinematic parameter of locomotion, the mechanism and the control system being arranged such that the damping resistances effective over the range of motion of the ankle are adapted automatically in response to such signals. Single and dual piston hydraulic damping arrangements are disclosed, including arrangements allowing independent heel-height adjustment. | 09-22-2011 |
20110245931 | SYSTEMS AND METHODS FOR ACTUATING A PROSTHETIC ANKLE - Systems and methods for sensing actuating a prosthetic ankle are disclosed. In one example, the system, such as an actuated prosthetic ankle joint, detects that the user has moved to a relaxed position, such as sitting, reclining, crawling, or leaning. In response, the actuated prosthetic ankle joint actively adjusts the angle between the members of the ankle to a relaxed state. The system may further detect when the user has moved to exit the relaxed position, and may actively adjust the angle between the members of the ankle to an exit state. | 10-06-2011 |
20120095572 | Adaptive sports ankle joint prosthesis - An ankle joint prosthesis comprised of a central core element capable of attachment to an artificial leg, coupled to two side elements capable for attachment to an artificial foot. The medial and lateral side elements envelop the central core lower region along a common central axis, and are coupled together by means of mechanical fastening and can be rotated relative to the central core and positively constrained to align in various orientations dependent of a specific grooved profile within each side element pair. The ankle joint orientation is affected by engaging an anterior and/or posterior located mechanical linkage enacting an upward linear movement on the guide pin plunger, thus allowing the side elements to rotate by means of a torque load until reaching an orientation held in place along a grooved profile. The load bearing elements shall be precision machined from Grade 5 Titanium. | 04-19-2012 |
20120191220 | INSTRUMENTED PROSTHETIC FOOT - The present invention discloses an instrumented prosthetic foot for use with an actuated leg prosthesis controlled by a controller, the instrumented prosthetic foot comprising a connector to connect the instrumented prosthetic foot to the leg prosthesis, an ankle structure connected to the connector, a ground engaging member connected to the ankle, at least one sensor for detecting changes in weight distribution along the foot, and an interface for transmitting signals from the sensor to the controller. | 07-26-2012 |
20140277586 | PROSTHETIC ANKLE AND METHOD OF CONTROLLING SAME BASED ON ADAPTATION TO SPEED - Prosthetic devices and methods of controlling the same are provided. A prosthetic ankle device includes a foot unit and lower limb member moveable relative to one another and defining an ankle angle therebetween. The prosthetic ankle device further includes a controller to operate the device using different ankle angles depending on, for example, a user's gait speed. Methods of controlling the prosthetic ankle device include operating the device at different ankle angles depending on gait speed. For example, the prosthetic ankle device can provide for relatively more dorsiflexion at relatively slower gait speeds and relatively more plantarflexion at relatively faster gait speeds. | 09-18-2014 |
20140371874 | VACUUM SUCTION STRUCTURE OF ANKLE JOINT AND SUPPORT BARREL OF ARTIFICIAL LIMB - A vacuum suction structure of ankle joint and support barrel of artificial limb is connected, to the top thereof, with an artificial limb and the support barrel and is connected, to the bottom thereof, with an artificial foot. An ankle pressure cylinder forms therein an air chamber receiving therein an air chamber piston that forms therein a hydraulic fluid compartment. A hydraulic fluid supplementing cylinder and a one-way hydraulic fluid cylinder are arranged at one side of the ankle pressure cylinder and are connected via a connection piping system to the hydraulic fluid compartment. The one-way hydraulic fluid cylinder receives therein a push rod and the hydraulic fluid cylinder piston. When the structure is put into operation to allow a user to step forwards, the ankle pressure cylinder can provide both functions of hydraulic cushioning and air pressure regulation. | 12-18-2014 |
20150134081 | HYDRAULIC VALVE - A valve includes a case comprising a pin bore, a pin configured to move axially in the pin bore, wherein the pin seals the pin bore, a first channel in communication with the pin bore, a second channel in communication with the pin bore, wherein the second channel comprises a restrictor at a location offset from the first channel, a third channel in communication with the pin bore, wherein the third channel comprises a check valve, and the second channel and third channel are in communication with each other. The valve can be a miniature valve that is used in the control of hydraulic fluid in prosthesis, such as a prosthetic ankle joint. | 05-14-2015 |
20150297364 | WALKING CONTROLLER FOR POWERED ANKLE PROSTHESES - Described herein are systems and methods for a powered ankle/foot prosthesis and controller that utilizes piecewise emulated passive impedances to provide for walking at various cadences and on various slopes and for ground slope adaptive standing. A powered prosthesis using these systems and methods is capable of emulating any physical behavior provided by the healthy joint, and additionally describes a control system that utilizes the sensing and actuation system on the prosthesis to provide appropriate ankle joint impedances. Further, the control system incorporates a finite-state-based structure, and within each state, emulates the behavior of the healthy joint with strictly passive impedance functions. | 10-22-2015 |
623048000 | Universal joint | 3 |
623049000 | Resilient | 3 |
20090319055 | ENERGY STORING FOOT PLATE - Compositions are provided for a prosthetic ankle comprising: a joint housing having a bottom surface, a clevis coupled to the joint housing such that the clevis can rotate about the joint housing, a prosthetic coupling structure that couples the clevis to an amputee, and an articulating joint contained in the joint housing. Additionally, a portion of the bottom surface of the joint housing can be curved allowing a substrate a preset amount of flexion when coupled thereto and flexed in a concave position. | 12-24-2009 |
20130173022 | PROSTHETIC HYDRAULIC JOINT WITH ACCUMULATOR AND METHODS FOR CONTROLLING JOINT - A prosthetic foot assembly is disclosed. The assembly includes a pivoting ankle joint with a hydraulic system, a prosthetic foot connected to the distal side of the ankle joint, and, at the proximal side, the ankle joint includes a transducer with pyramid adaptor for attaching to a pylon. The ankle joint sensor provides data collection during the stance and optionally, the swing, phases of walking using, for example, strain gages and accelerometers. Also disclosed are methods for real-time feature extraction. Key parameters are captured to which are applied linear, fuzzy logic, neural net, or generic algorithms to determine current state (walking flat, uphill, downhill etc.) in real time and execute changes to the angle between the ankle and foot almost instantaneously based on those parameters. | 07-04-2013 |
20140067086 | Prosthetic Ankle Joint Mechanism - A prosthetic foot and ankle assembly includes a foot component and an ankle joint mounted thereto and having a fixed range of dorsi-plantar flexion. The ankle joint includes a joint mechanism in the form of a hydraulic linear piston and cylinder assembly having a pair of chambers on opposite sides of the piston to provide hydraulic damping continuously over the range of dorsi-plantar flexion. The joint mechanism further includes a valve arrangement controlling the flow of hydraulic fluid between the chambers. The valve arrangement includes first and second adjustable valves for independently controlling dorsi-flexion damping resistance and plantar-flexion damping resistance respectively. The joint mechanism includes a first flexion limiter that limits dorsi-flexion of the joint mechanism to a dorsi-flexion limit and a second flexion limiter that limits plantar-flexion of the joint mechanism to a plantar-flexion limit, thereby defining the fixed range of dorsi-plantar flexion. | 03-06-2014 |
623050000 | Resiliently actuated or controlled | 20 |
20080281435 | Adjustment Device for a Lower Limb Prosthesis - An hydraulic heel-height adjustment device for a lower limb prosthesis has a foot-mounting component ( | 11-13-2008 |
20100174385 | Hybrid Terrain-Adaptive Lower-Extremity Systems - Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive. | 07-08-2010 |
20120016493 | Passive ankle-foot prosthesis and orthosis capable of automatic adaptation to sloped walking surfaces and method of use - The present invention relates to an improved system for use in rehabilitation and/or physical therapy for the treatment of injury or disease to the lower limbs or extremities. The system can enable an amputee to proceed over any inclined or declined surface without overbalancing. The system is mechanically passive in that it does not utilize motors, force generating devices, batteries, or powered sources that may add undesirable weight or mass and that may require recharging. In particular the system is self-adapting to adjust the torque moment depending upon the motion, the extent of inclination, and the surface topography. An additional advantage of the improvement is that the system can be light and may also be simple to manufacture. | 01-19-2012 |
20120130508 | Lower Limb Prosthesis - In a lower limb prosthesis an ankle unit has a combination of an hydraulic piston and cylinder assembly providing a continuously damped range of ankle flexion and a resilient telescopic shock absorber. The damping resistance of the piston and cylinder assembly is the predominant resistance to ankle flexion and is provided by a piston which is axially moveable in a cylinder centred on the shin axis. The wall of the cylinder has a cylindrical outer bearing surface for a sleeve which is translationally displaceable relative to the piston and cylinder assembly according to the axial load, the sleeve being resiliently mounted by a compression spring which extends axially within the sleeve and has an integral end portion forming an upper bulkhead of the cylinder. The sleeve is also rotatable on the cylinder wall, the spring providing torsional resistance. | 05-24-2012 |
20140039645 | Prosthetic Ankle Joint Mechanism - A prosthetic foot and ankle assembly includes a foot component and an ankle joint mounted thereto and having a fixed range of dorsi-plantar flexion. The ankle joint includes a joint mechanism in the form of a hydraulic linear piston and cylinder assembly having a pair of chambers on opposite sides of the piston to provide hydraulic damping continuously over the range of dorsi-plantar flexion. The joint mechanism further includes a valve arrangement controlling the flow of hydraulic fluid between the chambers. The valve arrangement includes first and second adjustable valves for independently controlling dorsi-flexion damping resistance and plantar-flexion damping resistance respectively. The joint mechanism includes a first flexion limiter that limits dorsi-flexion of the joint mechanism to a dorsi-flexion limit and a second flexion limiter that limits plantar-flexion of the joint mechanism to a plantar-flexion limit, thereby defining the fixed range of dorsi-plantar flexion. | 02-06-2014 |
20140074255 | ARTIFICIAL ANKLE, ARTIFICIAL FOOT AND ARTIFICIAL LEG - The present invention relates in the field of orthopedics to an artificial ankle which imitates the natural human gait in a proper way, thereby enabling its user to walk not only in a plane environment but also uphill and downhill without any unpleasant effects. The present invention further relates to an artificial foot and an artificial leg containing said artificial ankle. | 03-13-2014 |
20140081424 | HYBRID TERRAIN-ADAPTIVE LOWER-EXTREMITY SYSTEMS - Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive. | 03-20-2014 |
20140088729 | Powered Ankle-Foot Prosthesis - A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking. | 03-27-2014 |
20140249652 | PROSTHETICS USING CURVED DAMPENING CYLINDERS - Prosthetic joint and limb components utilize a single, curved dampening cylinder to reduce component count and wear. A prosthetic foot/ankle requires only three major components; namely, a housing adapted for coupling to a foot blade, an ankle component adapted for coupling to a pylon, and a piston that moves within a curved cylinder in the housing during ambulation. The ankle component is pivotally attached to the housing at the center of curvature of the cylinder. The piston defines front and rear, variable volume chambers in the cylinder. The chambers are in fluid communication with one another via a port, such that fluid is exchanged between the chambers through one-way check valves as the ankle pivots between plantarflexion and dorsiflexion. Fluid flow is independently adjustable to establish and maintain desired levels of dampening during plantarflexion and dorsiflexion, including different levels of dampening. | 09-04-2014 |
20150148913 | PROSTHETIC FOOT WITH MODULAR CONSTRUCTION - A prosthetic foot includes a heel member having a heel member shaft extending upwardly from a heel end thereof and a forefoot member having a forefoot member shaft extending upwardly from a toe end thereof. An ankle member receives the heel member shaft and forefoot member shaft so as to allow the heel member shaft and forefoot member shaft to translate in a direction of a wearer's leg in response to an upward force thereon. At least one compressible member is coupled to the ankle member and is in compressible contact with the heel member shaft and/or forefoot member shaft so as to compress in response to the translation thereof. | 05-28-2015 |
20150297365 | FLEXIBLE PROSTHETIC APPLIANCE - A prosthetic appliance disposes a plurality of elongated, resilient members in a circular configuration around a pivot point representing a skeletal joint such as an ankle, wrist or shoulder. The resilient members are resilient and adapted to deformable respond to pivoting forces of the fulcrum, and forcibly deform in response to the pivoting of the shaft forcing the fulcrum against the resilient members. The circular orientation of the resilient members pivot the shaft orthogonal to the base from which the resilient members extend, such that the resilient members bias the fulcrum and shaft in the orthogonal position at a rest position. Forces drawing the shaft off-center disposed the fulcrum against one or more of the resilient members and causing resilient deformation and counterforces against the fulcrum back to the centered rest position. In response to pivoting movement, the resilient members apply increasing forces for biasing the pivoting shaft. | 10-22-2015 |
20160158030 | PROSTHETIC FOOT - A stable shock absorbing prosthetic foot that transfers energy between heel strike and toe-off. A toe plate is separated from one or more other plates by a bumper assembly located at each of the toe end and heel end of the foot. Certain embodiments of the shock absorbing foot of the present invention are designed for use with a prosthetic ankle. A torsion adapter may also be used to attach a prosthetic foot of the present invention to the remainder of a prosthesis. | 06-09-2016 |
20190142612 | ACTUATOR AND ARTIFICIAL LEG | 05-16-2019 |
623051000 | Elastic cord | 2 |
20100179668 | Hybrid Terrain-Adaptive Lower-Extremity Systems - Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive. | 07-15-2010 |
20120209405 | Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components - An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent. | 08-16-2012 |
623052000 | Spring | 5 |
20080281436 | Prosthetic Foot with Tunable Performance - A system for a lower extremity prosthesis comprising a foot, an ankle and a shank, has a posterior calf device ( | 11-13-2008 |
20090037001 | BELOW KNEE ORTHOSIS - A below-knee orthosis comprises a footplate, which is carried by a connecting element projecting therefrom, the upper end part of which has a releasable coupling that can be coupled to an upper part of a patient's lower leg, a longitudinal section of the connecting element being formed of a spring element, which extends in a curved path at a radial distance from a fulcrum of the spring element, and said fulcrum being placed to be essentially aligned with the patient's ankle-joint axis. | 02-05-2009 |
20140088730 | Ankle-Foot Prosthesis for Automatic Adaptation to Sloped Walking Surfaces - 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. | 03-27-2014 |
20140222167 | HYDRAULIC PROSTHETIC ANKLE - A range of motion (ROM) prosthetic foot and passive dampening ankle joint have limited dorsiflexion-plantarflexion (up and down) pivoting to accommodate different environments, and a spring to provide resilient resistance to plantarflexion (or lowering of the toe), and to bias the foot in dorsiflexion (or raising the toe). The ankle joint has a rear pivot rearward of a hydraulic link for a smooth feel. The ankle joint has an internal bumper in a hydraulic cylinder for a smooth feel. The ankle joint has an internal hydraulic compensator disposed in the cylinder and carried by the piston to equalize volume. | 08-07-2014 |
20150018975 | MOVEMENT SUPPORT APPARATUS - There is provided a movement support apparatus including a lower limb coupling portion configured to be coupled to a lower limb, an elastic member, a ground contact unit configured to include a ground contact plate coming into contact with a surface and a transmission portion transmitting force generated by the elastic member, and an ankle portion configured to be installed between the lower limb coupling portion and the ground contact unit. The ground contact unit is installed to be displaceable between a position at which the transmission portion comes into contact with the ankle portion and a position at which the transmission portion is uncoupled from the ankle portion. | 01-15-2015 |