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Systems and methods for prosthetic wrist rotation

  • US 10,369,024 B2
  • Filed: 11/02/2016
  • Issued: 08/06/2019
  • Est. Priority Date: 09/02/2016
  • Status: Active Grant
First Claim
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1. A prosthetic hand and wrist system, the system comprising:

  • a prosthetic hand;

    a prosthetic wrist defining a longitudinal axis and comprising a fixed portion, an actuator module, and a rotatable portion, the fixed portion configured to attach to an arm, the rotatable portion configured to attach to the prosthetic hand, and the actuator module attached to both the fixed and rotatable portions and configured to actuate the rotatable portion relative to the fixed portion thereby rotating the prosthetic hand about the longitudinal axis;

    the prosthetic hand comprising an inertial measurement unit (IMU) configured to detect an orientation of the prosthetic hand in three dimensional space including a rotational position of the prosthetic hand about the longitudinal axis;

    and a processor in communication with the IMU and the actuator module and configured to;

    receive data from the IMU associated with the orientation of the prosthetic hand in three dimensional space including the rotational position of the prosthetic hand about the longitudinal axis,identify a desired grip for the prosthetic hand,determine a rotation for the prosthetic hand based on only i) the data from the IMU and ii) the desired grip, andcause the actuator module to perform the rotation for the prosthetic hand by actuating the rotatable portion.

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