Control Systems and Methods for Gait Devices

• US 20140200680A1
• Filed: 03/13/2014
• Published: 07/17/2014
• Est. Priority Date: 02/17/2012
• Status: Active Grant

• Current Assignee: Ossur Iceland ehf
• Original Assignee: SpringActive, Inc.
• Inventors: Holgate, Matthew A., Cahill, Nathan
• Granted Patent: US 9,622,884 B2
• Time in Patent Office: Days
• US Class Current: 623/24
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/66 Feet; Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• 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 2002/7635 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 5/02 Orthopaedic corsets arm-rests for use as writing aids B43L15/00

Abstract

A method of controlling a gait device includes a first sensor disposed on a first mobile body. A physical state of the first mobile body is measured using the first sensor to obtain a first physical state measurement. A second sensor is disposed on a second mobile body. A physical state of the second mobile body is measured using the second sensor to obtain a second physical state measurement. The first and second physical state measurements are conditioned by pseudo integration. A reference function is based on a gait activity. A reference function is determined by measuring a physical state of an able-bodied human and correlating an output position of the actuator to the physical state of the able-bodied human. A command is generated by inputting the first and second physical state measurements into the reference function to control an actuator of the gait device to match the output position.

Claims

1. A method of controlling a gait device, comprising:

providing a first sensor disposed on a first mobile body;

measuring a physical state of the first mobile body using the first sensor to obtain a first physical state measurement;

providing a second sensor disposed on a second mobile body;

measuring a physical state of the second mobile body using the second sensor to obtain a second physical state measurement;

conditioning the first and second physical state measurements;

providing a reference function based on a gait activity; and

generating a command by inputting the first and second physical state measurements into the reference function to control an actuator of the gait device.

2. The method of claim 1, further including transforming the first and second physical state measurements.

3. The method of claim 1, wherein measuring the physical state includes measuring a kinematic or loading state of the first mobile body.

4. The method of claim 1, wherein providing the reference function includes:

measuring a physical state of an able-bodied human; and

correlating an output position of the actuator to the physical state of the able-bodied human.

5. The method of claim 4, further including actuating the actuator to match the output position.

6. The method of claim 1, wherein conditioning the physical state measurement is realized by use of a transfer function.

7. A method of controlling a gait device, comprising:

providing a sensor;

measuring a physical state of a mobile body using the sensor to obtain a physical state measurement;

conditioning the physical state measurement;

providing a reference function based on more than one gait activity; and

generating a command by inputting the physical state measurement into the reference function to control an actuator of the gait device.

8. The method of claim 7, wherein conditioning the physical state measurement is realized by use of a transfer function.

9. The method of claim 7, wherein conditioning the physical state measurement includes pseudo integrating the physical state measurement prior to inputting the physical state measurement into the reference function.

10. The method of claim 7, wherein providing the reference function includes:

measuring a physical state of an able-bodied human; and

correlating an output position of the actuator to the physical state of the able-bodied human.

11. The method of claim 10, further including actuating the actuator to match the output position.

12. The method of claim 7, further including transforming the physical state measurement.

13. The method of claim 12, wherein transforming the physical state measurement is realized by changing of a coordinate system.

14. A method of controlling a gait device, comprising:

measuring a physical state of a mobile body to obtain a physical state measurement;

conditioning the physical state measurement;

providing a reference function based on a gait activity; and

generating a command by inputting the physical state measurement into the reference function to control an actuator of the gait device.

15. The method of claim 14, wherein conditioning the physical state measurement includes pseudo integrating the physical state measurement prior to inputting the physical state measurement into the reference function.

16. The method of claim 14, wherein the mobile body includes a limb device or a robotic device.

17. The method of claim 14, wherein providing the reference function includes:

measuring a physical state of an able-bodied human; and

correlating an output position of the actuator to the physical state of the able-bodied human.

18. The method of claim 17, further including actuating the actuator to match the output position.

19. The method of claim 14, wherein measuring the physical state includes measuring a moment or force applied to the mobile body.

20. The method of claim 14, wherein measuring the physical state includes measuring a kinematic or loading state of the mobile body.

21. A gait device, comprising:

a prosthetic limb device including an actuator;

a sensor coupled to the prosthetic limb device; and

a control system coupled to the prosthetic limb device, wherein the control system is configured to obtain a physical state measurement from the sensor and produce a command based on a gait activity to control the actuator.

22. The gait device of claim 21, wherein the prosthetic limb device is configured to be worn by a user to replace a limb or assist movement.

23. The gait device of claim 21, wherein the prosthetic limb device includes an ankle prosthesis.

24. The gait device of claim 21, wherein the sensor includes a rate gyro or an accelerometer.

25. The gait device of claim 21, wherein the command is based on more than one gait activity.