Method and system for training adaptive control of limb movement
First Claim
1. ) A training system that displays to a patient simulated movements of a virtual limb comprising:
- a) at least one sensor configured to sense a patient'"'"'s voluntary movement signals from an unimpaired portion of the patient'"'"'s body and deliver the sensed signal to a processing system;
b) a processing system configured to;
i) receive the sensed voluntary movement signals from the at least one sensor;
ii) predict the intended limb movement;
iii) generate command signals to control simulated limb actuators based on the predicted limb movement; and
iv) create a dynamic simulation of limb movement based on the simulated limb actuators, and a plurality of internal and external forces of a simulated limb; and
c) a display device configured to communicate with the processing system and display animation of the simulated movements of the simulated limb to the patient in a virtual environment.
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Accused Products
Abstract
Disclosed are methods and systems for a virtual reality simulation and display of limb movement that facilitate the development and fitting of prosthetic control of a paralyzed or artificial limb. The user generates command signals that are then processed by the control system. The output of the control system drives a physics-based simulation of the limb that simulates the limb to be controlled. The computed movements of the model limb are displayed to the user as a 3D animation from the perspective of the user so as to give the impression that the user is watching the actual movements of his/her own limb. The user learns to adjust his/her command signals to perform tasks successfully with the virtual limb. Alternatively or additionally, the errors produced by the virtual limb and/or the responses of the user during the training process can provide information for adapting the properties of the control system itself.
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Citations
12 Claims
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1. ) A training system that displays to a patient simulated movements of a virtual limb comprising:
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a) at least one sensor configured to sense a patient'"'"'s voluntary movement signals from an unimpaired portion of the patient'"'"'s body and deliver the sensed signal to a processing system;
b) a processing system configured to;
i) receive the sensed voluntary movement signals from the at least one sensor;
ii) predict the intended limb movement;
iii) generate command signals to control simulated limb actuators based on the predicted limb movement; and
iv) create a dynamic simulation of limb movement based on the simulated limb actuators, and a plurality of internal and external forces of a simulated limb; and
c) a display device configured to communicate with the processing system and display animation of the simulated movements of the simulated limb to the patient in a virtual environment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. ) A processing system configured to:
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a) receive a sensed voluntary movement signal from a patient sensor;
b) predict intended limb movement based upon the sensed voluntary movement signal;
c) generate command signals to control simulated limb actuators based on the predicted limb movement; and
d) create a dynamic simulation of limb movement based on the simulated limb actuators, and a plurality of internal and external forces of a simulated limb.
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Specification