CONTROL SYSTEMS AND METHODS FOR PROSTHETIC OR ORTHOTIC DEVICES

• US 20100286796A1
• Filed: 05/04/2010
• Published: 11/11/2010
• Est. Priority Date: 05/05/2009
• Status: Active Grant

• Current Assignee: Ossur hf
• Original Assignee: Ossur hf
• Inventors: Clausen, Arinbjörn V.
• Granted Patent: US 9,017,418 B2
• Time in Patent Office: Days
• US Class Current: 623/39
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/605 Hip joints
• 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 2002/6827 Feedback system for providing user sensation, e.g. by force, contact or position
• CPC Class Codes: A61F 2002/6863 magnetic magnetic prosthetic parts A61F2002/30079
• CPC Class Codes: A61F 2002/689 Alarm means, e.g. acoustic
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/7625 for measuring angular position
• CPC Class Codes: A61F 2002/763 for measuring spatial position, e.g. global positioning system [GPS]
• 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 2002/769 Displaying measured values
• CPC Class Codes: A61F 2250/008 Alarm means
• CPC Class Codes: A61F 5/0102 specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
• CPC Class Codes: G05B 15/02 electric

Abstract

Geomagnetic methods and systems are used for monitoring the directionality of a prosthetic or orthotic device. Certain methods may include measuring multiple data points over a particular time interval to identify orientation information with respect to a prosthetic or orthotic device and/or used in the real-time control of the prosthetic or orthotic device. In certain examples, multiple points may be further compared with stored orientation data associated with predefined unsafe gait patterns. Control instructions and/or alerts based on the geomagnetic measurements can then be generated for the prosthetic or orthotic device, such as if the orientation data information matches one of the predefined unsafe gait patterns.

Claims

1. A method for controlling an adjustable prosthetic or orthotic device, the method comprising:

measuring with a geo-magnetic sensor a plurality of data points over a time interval, wherein the plurality of data points provides orientation data information of a prosthetic or orthotic device with respect to the earth'"'"'s magnetic field;

processing the plurality of data points over the time interval by comparing the orientation data information with predefined unsafe gait patterns; and

outputting control instructions to the prosthetic or orthotic device when the orientation data information matches one of the predefined unsafe gait patterns.

2. The method of claim 1, wherein the orientation data information comprises at least a first angle, a second angle, and a third angle and wherein the first, second, and third angle comprises a roll, inclination, and azimuth angle, respectively.

3. The method of claim 2, wherein the geo-magnetic sensor measures the plurality of data points with an accuracy of between about 0.01 and about 1.0 degrees for the first and second angles and between about 1.0 and about 2.0 for the third angle.

4. The method of claim 2, wherein the geo-magnetic sensor recognizes any directional change greater than about 20 degrees for the first, second, and third angles.

5. The method of claim 1, further comprising issuing an alert if the orientation data information matches one of the predefined unsafe gait patterns.

6. The method of claim 5, wherein one of the predefined unsafe gait patterns comprises a u-turn pattern.

7. The method of claim 1, further comprising actuating the device in response to the control instructions.

8. A motion-controlled prosthetic or orthotic device comprising:

a first upper member;

a second lower member moveable relative to the first upper member at a natural human joint location, wherein the first upper and second lower members are articulated about the joint location with respect to each other;

at least one geo-magnetic sensor disposed on the motion-controlled prosthetic or orthotic device, wherein the at least one geo-magnetic sensor is configured to monitor the directionality of the prosthetic or orthotic device with respect to the earth'"'"'s magnetic field and to provide directionality data; and

a processor, wherein the processor processes the directionality data and outputs a command based at least in part on the directionality data, wherein the command comprises at least one of an alert command or an instruction to control or restrict movement of the prosthetic or orthotic device.

9. The device of claim 8, wherein the geo-magnetic sensor comprises a flux gate magnetometer.

10. The device of claim 8, wherein the geo-magnetic sensor is further coupled with at least one of an accelerometer or gyroscope.

11. The device of claim 8, wherein the processor further generates an output of at least one of “

level ground,”

“

stairs,”

or “

slope.”

12. The device of claim 11, wherein when the processor generates an output of “

level ground,”

the processor then instructs the prosthetic device to set parameters for level ground walking.

13. The device of claim 11, wherein when the processor generates an output of “

stairs,”

the processor then instructs the prosthetic device to set parameters for stair case walking.

14. The device of claim 11, wherein when the processor generates an output of “

stairs” and

the geo-magnetic sensor provides directionality data indicative of a 180 degree turn, the processor notifies the prosthetic device to resume level ground walking.

15. The device of claim 11, wherein when the processor generates an output of “

slope,”

the processor then instructs the prosthetic device to set parameters for inclined or declined walking.

16. A prosthetic or orthotic device capable of monitoring directionality and providing feedback control, comprising:

at least one geo-magnetic sensor disposed on an adjustable prosthetic or orthotic device, wherein the at least one geo-magnetic sensor is configured to monitor the directionality of the device and provide directionality data; and

a processor, wherein the processor processes the directionality data and outputs a command based at least in part on the directionality data, wherein the command comprises at least one of an alert command and an instruction to control or restrict movement of the device.

17. The device of claim 16, wherein the alert command comprises instructing a warning system to output at least one of an auditory signal, a tactile signal, and a locking mechanism based at least in part on the directionality data.

18. The device of claim 16, wherein the device comprises a prosthetic knee device.

19. The device of claim 16, wherein the device comprises a prosthetic ankle device.

20. The device of claim 16, wherein the device comprises an orthotic device.