Prosthetic feedback apparatus and method

• US 10,398,576 B2
• Filed: 08/17/2012
• Issued: 09/03/2019
• Est. Priority Date: 08/18/2011
• Status: Active Grant

• Current Assignee: Touch Bionics Limited (Ossur hf), University of Edinburgh
• Original Assignee: Touch Bionics Limited (Ossur hf)
• Inventors: Gill, Hugh, Vijayakumar, Sethu, Saunders, Ian
• Primary Examiner(s): Bahena, Christie L
• Application Number:
  US14/235,282
• Publication Number:
  US 20140324189A1
• Time in Patent Office: 2,573 Days
• CPC Class Codes: A61F 2/583 Hands; Wrist joints
• CPC Class Codes: A61F 2/588 Hands having holding devices shaped differently from human fingers, e.g. claws, hooks, tubes
• CPC Class Codes: A61F 2002/6827 Feedback system for providing user sensation, e.g. by force, contact or position
• CPC Class Codes: A61F 2002/6836 Gears specially adapted therefor, e.g. reduction gears
• CPC Class Codes: A61F 2002/701 operated by electrically controlled means, e.g. solenoids or torque motors
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand

Abstract

A prosthesis (1) or an orthosis and method of operating the same. The prosthesis or orthosis comprising a moveable component (2), a motor (7) operable to move the component, wherein the motor has at least one operating parameter, the application of which to the motor results in the component having at least one operating condition; and an electronic device (28) operable to: determine at least one operating parameter of the motor and determine at least one instantaneous operating condition of the component from a predetermined operating profile of the motor and component and the determined at least one operating parameter of the motor, the predetermined operating profile of the motor and component being based on one or more operating parameter inputs to the motor and one or more resulting operating condition outputs of the component.

Claims

1. A prosthesis for attachment to an arm of a user, the prosthesis comprising:

a thumb digit and a finger digit;

a first electric motor operable to move the thumb digit in response to a first control signal, wherein actuation of the first electric motor results in the first electric motor drawing a first current from a power source and further results in at least one operating condition of a plurality of operating conditions of the thumb digit;

a second electric motor operable to move the finger digit in response to a second control signal, wherein actuation of the second electric motor results in the second electric motor drawing a second current from the power source and further results in at least one operating condition of a plurality of operating conditions of the finger digit; and

a controller configured to operate the first electric motor to move the thumb digit and operate the second electric motor to move the finger digit, the controller comprising;

memory storing an operating profile, the operating profile including a plurality of current values of the first electric motor, a plurality of current values of the second electric motor, the plurality of operating conditions of the thumb digit comprising at least a thumb slip condition, and the plurality of operating conditions of the finger digit comprising at least a finger slip condition, wherein the operating profile associates each of the plurality of current values of the first electric motor with a corresponding operating condition of the plurality of operating conditions of the thumb digit, wherein the operating profile further associates each of the plurality of current values of the second electric motor with a corresponding operating condition of the plurality of operating conditions of the finger digit, and

a processor communicatively coupled to the memory and configured to;

communicate the first and second control signals to the first and second electric motors, respectively, wherein the first and second control signals cause the thumb digit and the finger digit to initiate a pinch grip,

measure the first and second currents drawn from the power source,

compare the first current with the plurality of current values of the first electric motor of the operating profile and compare the second current with the plurality of current values of the second electric motor of the operating profile,

identify an overall slip condition between the thumb digit and the finger digit based at least in part on the comparisons, wherein the comparisons indicate that at least one of the first current corresponds to the thumb slip condition or the second current corresponds to the finger slip condition, and

communicate an output signal indicative of the overall slip condition between the thumb digit and the finger digit to the user by way of vibrotactile feedback.

2. The prosthesis of claim 1, further comprising a plurality of other finger digits, wherein each finger digit of the plurality of other finger digits includes a third motor, and wherein the controller is further configured to individually operate each of the third motors associated with the plurality of other finger digits to individually move one or more of the other finger digits.

3. The prosthesis of claim 1, wherein at least one of the first motor or the second motor is a worm gear motor.

4. The prosthesis of claim 1, wherein at least one of the first motor or the second motor is a stepper motor.

5. The prosthesis of claim 1, wherein at least one of the first control signal or the second control signal is based on electromyographic activity of the user.

6. The prosthesis of claim 1, wherein the thumb slip condition corresponds to a change in the first current over a period of time.

7. The prosthesis of claim 6, wherein the thumb slip condition corresponds to a reduction in the first current over the period of time.

8. The prosthesis of claim 6, wherein the comparison of the first current with the plurality of current values of the first electric motor of the operating profile indicates the thumb digit is moving after transitioning from a resting position.

9. The prosthesis of claim 1, wherein the finger slip condition corresponds to a change in the second current over a period of time.

10. The prosthesis of claim 9, wherein the finger slip condition corresponds to a reduction in the second current over the period of time.

11. The prosthesis of claim 9, wherein the comparison of the second current with the plurality of current values of the second electric motor of the operating profile indicates the finger digit is moving after transitioning from a resting position.

12. The prosthesis of claim 1, wherein the overall slip condition indicates that at least one of the thumb digit or the finger digit is at least one of slipping or sliding with respect to a surface of an object gripped between the thumb digit and the finger digit.

13. The prosthesis of claim 1, further comprising:

a first bevel gear mounted on a drive shaft connected to the first electric motor;

a second bevel gear configured to engage with the first bevel gear; and

a worm gear mounted on a second shaft that includes the second bevel gear,

wherein operation of the first electric motor causes rotation of the first bevel gear, which rotates the second bevel gear together with the worm gear, wherein rotation of the worm gear causes movement of the thumb digit.

14. The prosthesis of claim 13, further comprising a gear wheel engaged with the worm gear, wherein the rotation of the worm gear causes rotation of the gear wheel.

15. A method of operating a prosthesis comprising a thumb digit, a finger digit, and a controller, the method comprising:

communicating a first control signal to a first motor, wherein the first motor draws a first current from a power source to move the thumb digit based on the first control signal;

communicating a second control signal to a second motor, wherein the second motor draws a second current from the power source to move the finger digit based on the second control signal;

measuring the first and second currents drawn from the power source;

comparing the first current with a plurality of first current values of the first motor of an operating profile, the operating profile including the plurality of first current values of the first motor and a plurality of first operating conditions of the thumb digit comprising at least a thumb slip condition, wherein the operating profile associates each of the plurality of first current values of the first motor with a corresponding first operating condition of the plurality of first operating conditions of the thumb digit;

comparing the second current with a plurality of second current values of the second motor of the operating profile, the operating profile further including the plurality of second current values of the second motor and a plurality of second operating conditions of the finger digit comprising at least a finger slip condition, wherein the operating profile further associates each of the plurality of second current values of the second motor with a corresponding second operating condition of the plurality of second operating conditions of the finger digit;

identifying an overall slip condition between the thumb digit and the finger digit based at least in part on at least one of the comparing the first current with the plurality of first current values of the first motor or the comparing the second current with the plurality of second current values of the second motor;

producing, by the controller, a vibrotactile output signal indicative of the overall slip condition between the thumb digit and the finger digit; and

communicating the vibrotactile output signal by the controller to a user of the prosthesis using vibrotactile feedback.

16. The method of claim 15, wherein the prosthesis comprises a plurality of other finger digits, wherein each finger digit of the plurality of other finger digits includes a third motor controlled by the controller, the method further comprising communicating one or more third control signals to the third motors, wherein the third motors draw one or more third currents from the power source to move the plurality of other finger digits based on the one or more third control signals.

17. The method of claim 15, wherein at least one of the first motor or the second motor is a worm gear motor.

18. The method of claim 15, wherein at least one of the first motor or the second motor is a stepper motor.

19. The method of claim 15, wherein at least one of the first control signal or the second control signal is based on electromyographic activity of the user.

20. The method of claim 15, wherein the overall slip condition indicates that at least one of the thumb digit or the finger digit is at least one of slipping or sliding with respect to a surface of an object gripped between the thumb digit and the finger digit.