System and method for determining terrain transitions

• US 20070050047A1
• Filed: 08/30/2006
• Published: 03/01/2007
• Est. Priority Date: 09/01/2005
• Status: Active Grant

• Current Assignee: Ossur hf
• Original Assignee: Arion Banki Hf
• Inventors: Clausen, Arinbjorn, Ragnarsdottlr, Heidrun
• Granted Patent: US 8,852,292 B2
• Time in Patent Office: Days
• US Class Current: 623/24
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2/76 Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
• CPC Class Codes: A61F 2002/5003 having damping means, e.g. shock absorbers for implantable joints A61F2002/30563
• CPC Class Codes: A61F 2002/5004 operated by electro- or magnetorheological fluids
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• CPC Class Codes: A61F 2002/503 for adjusting elasticity, flexibility, spring rate or mechanical tension
• CPC Class Codes: A61F 2002/5033 for adjusting damping damping means A61F2002/5003
• 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: A61F 2002/705 Electromagnetic data transfer for implantable prostheses A61F2250/0002
• CPC Class Codes: A61F 2002/762 for measuring dimensions, e.g. a distance
• CPC Class Codes: A61F 2002/7635 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61F 2002/764 for measuring acceleration
• CPC Class Codes: A61F 2002/7645 for measuring torque, e.g. hinge or turning moment, moment of force
• CPC Class Codes: A61F 2002/7685 located on natural or sound-site limbs, e.g. comparison measuring means

Abstract

A prosthetic or orthotic system including a sensor module and a processing module usable to determine a terrain variable, such as a terrain transition. In certain examples, the system is capable of anticipating a terrain transition prior to the user experiencing the terrain transition, which may include, for instance, a transition from level ground walking to walking on stairs or may include a change in a slope of the ground surface. In certain embodiments, the system advantageously monitors a posture and/or movement of the patient to anticipate the terrain transition. Furthermore, the system may control an actuator to appropriately adjust the prosthetic or orthotic device to encounter the anticipated terrain transition.

Claims

1. A method of controlling the movement of a device attached to a limb of a patient, the method comprising:

receiving first data relating to a posture of the patient;

processing the first data to anticipate a terrain transition;

outputting second data indicative of the anticipated terrain transition; and

controlling at least one of a movement of the device and a physical property of the device based at least upon said second data.

2. The method of claim 1, wherein the first data is derived from the measurements of at least one pressure sensor.

3. The method of claim 1, wherein the first data is derived from the measurements of at least one load cell.

4. The method of claim 1, wherein the first data is derived from the measurements of at least an accelerometer or a gyroscope.

5. The method of claim 1, wherein the first data is indicative of at least one postural change of the patient.

6. The method of claim 5, wherein the first data is indicative of a change in either a center of pressure (COP) or a center of mass (COM) of the patient.

7. The method of claim 5, wherein the first data is indicative of a change in a medial-lateral displacement.

8. The method of claim 1, additionally comprising providing the device attached to the limb, the device comprising a joint assembly substantially mimicking a natural human joint and having a first portion and a second portion that are moveable relative to each other about the joint assembly.

9. The method of claim 1, wherein the device is a prosthesis.

10. The method of claim 1, wherein the device is an orthosis.

11. The method of claim 1 wherein the first data is indicative of movement of the device.

12. The method of claim 11, additionally comprising monitoring the movement of the device associated with the limb to generate the first data.

13. The method of claims 1, wherein the anticipated terrain transition includes a change in a slope of the terrain.

14. The method of claim 1, wherein the anticipated terrain transition includes a transition to walking on stairs.

15. The method of claim 1, further comprising controlling movement of the device by actively adjusting an angle between two portions the device.

16. The method of claim 15, wherein said actively adjusting comprises substantially mimicking the movement of a human ankle.

17. The method of claim 15, wherein said controlling movement of the device comprises adjusting an actuator.

18. The method of claim 1, wherein the physical property of the device attached to the limb comprises a stiffness of the device.

19. The method of claim 1, wherein the physical property of the device attached to the limb comprises a heel height of the device.

20. A machine loadable software program for a processor for controlling the movement of a device associated with a limb of a patient, the software program stored on a computer readable medium, the software program comprising:

first computer instructions configured to obtain sensor data relating to a posture of a patient;

second computer instructions configured to calculate from the sensor data an anticipated terrain transition; and

third computer instructions configured to instruct a processor to output a control signal to the device associated with the limb of the patient to adjust the device based at least in part on the anticipated terrain transition.

21. A control system for a device associated with a limb of a patient, the control system comprising:

means for receiving sensor data relating to a movement of the patient;

means for processing the sensor data to predict a terrain transition, said means for processing further configured to output a control signal based at least in part on said predicted terrain transition; and

means for controlling at least one of a movement of the device and a physical property of the device associated with the limb of the patient based at least upon said control signal.

22. The control system of claim 21, wherein the physical property comprises a stiffness of the device associated with the limb.

23. The control system of claim 21, wherein the physical property comprises a heel height of the device associated with the limb.