Pneumatic limb control system

Claim 1

A controller for a pneumatically powered flexible limb characterized in that it provides for rapid movement of said limb from a first position to a second position with minimal overshooting of said second position, and comprising: computer means for providing signal data corresponding to a plurality of successive events of air introduction and non-air introduction, respectively, into said flexible limb for a predetermined limb movement from a first position to a second position, wherein duration of non-air introduction relative to air introduction permits the effects of inertia to dissipate, and further wherein said signal data provides for varying the air introduction time in relative to the non-air introduction time for said successive events and the time periods each consisting of an air introduction event and a non-air introduction event are variable during at least a portion of the flexible limb movement from said first position to said second position; means for converting said time-varying signal data from said computer means into corresponding time-varying electrical signals; and valve means pneumatically connected to said flexible limb and electrically connected to said converting means for successively opening to introduce pressurized air into said flexible limb and closing to prevent air introduction into said limb for said plurality of successive events according to said ime-varying electrical signals from said converting means.

Claim 9

A method for controlling a pneumatically-powered flexible limb so as to provide for rapid movement of said limb from a first position to a second position with minimal overshooting of said second position, comprising the steps of: providing computer signal data corresponding to a plurality of successive events of air introduction and non-air introduction, respectively, into said flexible limb for a predetermined limb movement from a first position to a second position, wherein duration of non-air introduction relative to air introduction permits the effects of inertia to dissipate, and further wherein said signal data provide for varying the air introduction time in relation to the non-air introduction time for said successive events and the time periods each consisting of an air introduction event and a non-air introduction event are variable during at least a portion of the flexible limb movement from said first position to said second position; converting said time-varying computer signal data into corresponding time-varying electrical signals; and utilizing said time-varying electrical signals to control pneumatic valve means in order to successively open to introduce pressurized air into said flexible limb and to close to prevent air introduction into said flexible limb for said plurality of successive events according to said time-varying electrical signals.

Claim 10

A method for controlling a pneumatically-powered flexible limb so as to provide for rapid movement of said limb from a first position to a second position with minimal overshooting of said second position, comprising the steps of: providing computer signal data corresponding to a plurality of successive events of air introduction and non-air introduction, respectively, into said flexible limb for a predetermined limb movement from a first position to a second position, wherein duration of non-air introduction relative to air introduction permits the effects of inertia to dissipate, and further wherein said signal data provide for varying the air introduction time in relation to the non-air introduction time for said successive events and the time periods each consisting of an air introduction event and a non-air introduction event are variable during at least a portion of the flexible limb movement from said first position to said second position; converting said time-varying computer signal data into corresponding time-varying electrical signals; and utilizing said time-varying electrical signals to control pneumatic valve means in order to successively open to introduce pressurized air into said flexible limb and to close to prevent air introduction into said flexible limb for said plurality of successive events according to said time-varying electrical signals.