CONTROL DEVICE AND SYSTEM FOR CONTROLLING AN ACTUATED PROSTHESIS

• US 20130297041A1
• Filed: 07/17/2013
• Published: 11/07/2013
• Est. Priority Date: 08/22/2002
• Status: Active Grant

• Current Assignee: Victhom Human Bionics Inc. (Ergoresearch Ltd.)
• Original Assignee: Victhom Human Bionics Inc. (Ergoresearch Ltd.)
• Inventors: Bdard, Stphane
• Granted Patent: US 9,649,206 B2
• 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 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.

Claims

1. (canceled)

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:

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.

3. The method of claim 2, further comprising processing said information with the control system to determine a progression within the locomotion activity of the amputee'"'"'s movement, wherein the lookup table uses the determined progression within the locomotion activity.

4. The method of claim 2, further comprising processing said information with the control system to determine a walking speed of the amputee, wherein the lookup table uses the walking speed of the amputee.

5. The method of claim 2, wherein the relative vertical direction comprises at least one of an incline, a decline, upstairs, and downstairs.

6. The method of claim 2, wherein the actuator is operated to move one or more members of a leg prosthesis.

7. The method of claim 6, wherein the prosthesis comprises a knee member that is moved by the actuator relative to a trans-tibial member.

8. The method of claim 6, wherein the prosthesis comprises an ankle joint.

9. The method of claim 2, wherein the artificial proprioceptors comprise at least a plantar pressure sensor and a gyroscope.

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:

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.

11. The method of claim 10, wherein the control system determines the type of mobility is incline walking.

12. The method of claim 10, wherein the control system determines the type of mobility from upward inclined walking, downward inclined walking, walking down stairs, walking up stairs, and linear walking.

13. The method of claim 10, wherein the control system determines the type of mobility is decline walking.

14. The method of claim 10, further comprising processing said information with the control system to determine a phase of locomotion of the amputee.

15. The method of claim 10, further comprising processing said information with the control system to determine a walking speed of the amputee.

16. A method of controlling an actuated prosthesis of an amputee, the prosthesis comprising an actuator, the method comprising:

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.

17. The method of claim 16, further comprising processing said information with the control system to determine a phase of locomotion and a portion of locomotion of the amputee.

18. The method of claim 16, wherein the walking speed is determined based on data received by plantar pressure sensors.

19. The method of claim 16, wherein the control system uses the walking speed to determine joint trajectories and the required force or torque to be applied by the actuator to the joint.

20. The method of claim 16, wherein the signal that is output from the control system to the actuator is based on values determined using a lookup table stored in a memory of the prosthesis.

21. The method of claim 16, wherein the prosthesis comprises a knee member that is moved by the actuator relative to a trans-tibial member.