CONTROL DEVICE AND SYSTEM FOR CONTROLLING AN ACTUATED PROSTHESIS

• US 20110137429A1
• Filed: 01/10/2011
• Published: 06/09/2011
• Est. Priority Date: 08/22/2002
• Status: Abandoned Application

• Current Assignee: Victhom Human Bionics Inc. (Ergoresearch Ltd.)
• Original Assignee: Victhom Human Bionics Inc. (Ergoresearch Ltd.)
• Inventors: Bédard, Stéphane
• Application Number:
  US12/987,801
• Publication Number:
  US 20110137429A1
• Time in Patent Office: Days
• US Class Current: 623/24
• CPC Class Codes: A61F 2/644 of the single-bar or multi-bar linkage type
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/607 Lower legs
• CPC Class Codes: A61F 2002/6614 Feet
• 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 2002/7625 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 2002/7645 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 device and system for controlling an actuated prosthesis. The device includes a data signal input for each of the main artificial proprioceptors. Also, means for obtaining a first and a second derivative signal for at least some of the data signals, and means for obtaining a third derivative signal for at least one of the data signals. A set of first state machines, and means for generating the phase of locomotion portion using the states of the main artificial proprioceptors, and a second state machine as also included. The system includes a plurality of main artificial proprioceptors as well as means for obtaining a first and a second derivative signal for at least some of the data signals, and means for obtaining a third derivative signal for at least one of the data signals. Also, a set of first state machines, a second state machine, means for storing a lookup table, means for determining actual coefficient values from the lookup table, means for calculating at least one dynamic parameter value of the actuated prosthesis using the lookup table and at least some of the data signals, and means for converting the dynamic parameter value into an output signal to control the actuated prosthesis.

Claims

1-41. -41. (canceled)

42. A motorized prosthetic device comprising:

a joint member;

a limb member operatively coupled with the joint member;

a pressure sensor configured to indicate an interaction between the motorized prosthetic device and ground;

a kinematic sensor configured to measure torque at the joint member;

a controller configured to receive data from at least the pressure sensor and kinematic sensor and output a control signal based at least on the received data; and

an electrical motor configured to receive the control signal and operate an actuator in accordance with the received control signal.

43. The motorized prosthetic device of claim 42, wherein operation of the actuator induces movement of the limb member.

44. The motorized prosthetic device of claim 42, wherein the controller is further configured to calculate a trajectory of the motorized prosthetic device using at least the data from the kinematic sensor.

45. The motorized prosthetic device of claim 44, wherein the controller is further configured to output the control signal based at least on the calculated trajectory of the motorized prosthetic device.

46. The motorized prosthetic device of claim 42, wherein the joint member comprises a knee joint.

47. The motorized prosthetic device of claim 42, wherein the limb member comprises a trans-tibial member.

48. The motorized prosthetic device of claim 42, wherein the controller is further configured to determine a state of the pressure sensor using at least a first derivative of at least a portion of the data from the pressure sensor.

49. The motorized prosthetic device of claim 42, wherein the controller is further configured to determine a phase of locomotion using at least a portion of the data from the pressure sensor.

50. The motorized prosthetic device of claim 42, wherein the controller is further configured to determine a portion of locomotion using at least a portion of the data from the pressure sensor.

51. A prosthetic controller configured to control a motorized prosthetic device, the controller comprising:

a first data signal input configured to receive a pressure data signal indicative of an interaction between a motorized prosthetic device and ground;

a second data signal input configured to receive a kinematic data signal indicative of a torque at a joint of the prosthetic device; and

a processor configured to calculate a control signal based at least on the pressure data signal and the kinematic data signal and further configured to transmit the control signal to an electrical motor, wherein the electrical motor operates an actuator in accordance with the control signal.

52. The prosthetic controller of claim 51, wherein operation of the actuator induces movement in a limb member of the motorized prosthetic device.

53. The prosthetic controller of claim 51, wherein the processor is further configured to calculate a trajectory of the motorized prosthetic device using at least the data from the kinematic signal.

54. The prosthetic controller of claim 53, wherein the processor is further configured to calculate the control signal based at least on the calculated trajectory of the motorized prosthetic device.

55. The prosthetic controller of claim 51, wherein the joint is a knee joint.

56. A method for controlling a motorized prosthetic device, the method comprising:

receiving a pressure data signal indicative of an interaction between a prosthetic device and ground;

receiving a kinematic data signal indicative of a torque at a joint of the prosthetic device;

calculating, using one or more processors, a control signal based at least on a portion of the pressure data signal and at least a portion of the kinematic data signal;

transmitting the control signal to an electrical motor; and

operating an actuator in accordance with the calculated control signal.

57. The method of claim 56, wherein operation of the actuator induces movement in the motorized prosthetic device

58. The method of claim 56, further comprising calculating a trajectory of the motorized prosthetic device using at least the kinematic data signal.

59. The method of claim 58, wherein the control signal is calculated based at least on the calculated trajectory of the motorized prosthetic device.

60. The method of claim 56, further comprising determining a state of a pressure sensor associated with the pressure data signal using at least a first derivative of at least a portion of the pressure data signal.

61. A prosthetic controller configured to control a motorized prosthetic device, the controller comprising:

a first layer configured to calibrate a prosthetic device to a user; and

a second layer comprising at least one pressure sensor input and at least one kinematic sensor input and configured to determine a phase of locomotion using the at least one pressure sensor input and the at least one kinematic sensor input, and further configured to operate an actuator using an electrical motor based on the determined phase of locomotion.