CONTROL DEVICE AND SYSTEM FOR CONTROLLING AN ACTUATED PROSTHESIS
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Abstract
A motorized prosthetic device includes a joint member, a limb member, a pressure sensor, and a kinematic sensor. The pressure sensor indicates interaction between the motorized prosthetic device and the ground and the kinematic sensor measures torque at the joint member. A controller receives data from the pressure sensor and kinematic sensor and calculates a control signal based at least on the received data. An electrical motor receives the control signal and operates an actuator in accordance with the received control signal.
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Citations
21 Claims
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1. (canceled)
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2. A method of controlling an actuated prosthesis of an amputee, the prosthesis comprising an actuator that supplies mechanical energy to move one or more members about a joint, the method comprising:
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capturing information in real-time from a plurality of artificial proprioceptors about the dynamics of the amputee'"'"'s movement; processing said information with a control system to determine a relative vertical direction of a type of gait; determining the required force or torque to be applied by the actuator to the joint based at least on the determined relative vertical direction of the locomotion activity; and outputting a signal from the control system to operate the actuator and create movement of the joint. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9)
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10. A method of controlling an actuated prosthesis of an amputee, the prosthesis comprising an actuator that supplies mechanical energy to move one or more members about a joint, the method comprising:
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capturing information in real-time from one or more artificial proprioceptors about the dynamics of the amputee'"'"'s movement; processing said information with a control system to determine a type of mobility the amputee is currently in based at least on one or more boundary conditions of the one or more artificial proprioceptors; and outputting a signal from the control system to operate the actuator and create movement of the joint based on the determined type of mobility of the amputee. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A method of controlling an actuated prosthesis of an amputee, the prosthesis comprising an actuator, the method comprising:
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capturing information in real-time from one or more artificial proprioceptors about the dynamics of the amputee'"'"'s movement; processing said information with a control system to determine a walking speed of the amputee; and outputting a signal from the control system to operate the actuator based on the determined walking speed of the amputee. - View Dependent Claims (17, 18, 19, 20, 21)
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Specification