SYSTEM AND METHOD FOR DETERMINING TERRAIN TRANSITIONS

• US 20150073566A1
• Filed: 09/19/2014
• Published: 03/12/2015
• Est. Priority Date: 09/01/2005
• Status: Active Application

• Current Assignee: Ossur hf
• Original Assignee: Ossur hf
• Inventors: Ragnarsdottir, Heidrun Gigja, Clausen, Arinbjorn Viggo
• Application Number:
  US14/491,595
• Publication Number:
  US 20150073566A1
• Time in Patent Office: Days
• US Class Current: 623/25
• 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 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2/76 Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
• CPC Class Codes: A61F 2002/5003 having damping means, e.g. shock absorbers for implantable joints A61F2002/30563
• CPC Class Codes: A61F 2002/5004 operated by electro- or magnetorheological fluids
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• CPC Class Codes: A61F 2002/503 for adjusting elasticity, flexibility, spring rate or mechanical tension
• CPC Class Codes: A61F 2002/5033 for adjusting damping damping means A61F2002/5003
• 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 2002/7635 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 2002/7685 located on natural or sound-site limbs, e.g. comparison measuring means

Abstract

A prosthetic or orthotic system including a sensor module and a processing module usable to determine a terrain variable, such as a terrain transition. In certain examples, the system is capable of anticipating a terrain transition prior to the user experiencing the terrain transition, which may include, for instance, a transition from level ground walking to walking on stairs or may include a change in a slope of the ground surface. In certain embodiments, the system advantageously monitors a posture and/or movement of the patient to anticipate the terrain transition. Furthermore, the system may control an actuator to appropriately adjust the prosthetic or orthotic device to encounter the anticipated terrain transition.

Claims

1-23. -23. (canceled)

24. A method of controlling the movement of a lower limb prosthetic device, the lower limb prosthetic device comprising a first member and a second member moveable relative to each other about a joint, the method comprising:

operating the prosthetic device on a first terrain, wherein said operating the prosthetic device on the first terrain comprises controlling movement of the first member and second member relative to each other in a first manner;

monitoring with a sensor module an anticipatory change of a user during a stride prior to any portion of the user reaching a second terrain different from the first terrain;

processing data received from the sensor module to determine a terrain transition from the first terrain to the second terrain prior to any portion of the user reaching the second terrain different from the first terrain; and

operating the prosthetic device on the second terrain, wherein said operating the prosthetic device on the second terrain comprises controlling movement of the first member and second member relative to each other in a second manner different from the first manner based on the determined terrain transition.

25. The method of claim 24, wherein the sensor module is located on the prosthetic device.

26. The method of claim 24, wherein the lower limb prosthetic device comprises a knee device.

27. The method of claim 24, wherein the lower limb prosthetic device comprises an ankle device.

28. A method of controlling the movement of a lower limb prosthetic device, the lower limb prosthetic device comprising a first member and a second member moveable relative to each other about a joint, the method comprising:

operating the prosthetic device by controlling movement of the first member and the second member relative to each other in a first manner as a user moves in a first gait pattern using the prosthetic device;

monitoring with a sensor module a center of mass of the user while the user moves in the first gait pattern using the prosthetic device;

processing data received from the sensor module to determine a gait pattern transition from the first gait pattern to a second gait pattern of the user based on determining a change in the user'"'"'s center of mass while still moving in the first gait pattern; and

operating the prosthetic device by controlling movement of the first member and the second member relative to each other in a second manner based on the determined gait pattern transition, wherein the second manner is different from the first manner.

29. The method of claim 28, wherein the sensor module is located on the prosthetic device.

30. The method of claim 28, wherein the sensor module comprises an accelerometer.

31. The method of claim 28, wherein the sensor module comprises a gyroscope.

32. The method of claim 28, wherein the sensor module comprises at least one sensor selected from the group consisting of a pressure sensor, a load cell, a potentiometer and a flex sensor.

33. The method of claim 28, wherein the sensor module comprises a myoelectric sensor.

34. The method of claim 28, wherein the lower limb prosthetic device comprises a knee device.

35. The method of claim 28, wherein the lower limb prosthetic device comprises an ankle device.

36. A method of controlling the movement of a lower limb prosthetic device, the lower limb prosthetic device comprising a first member and a second member moveable relative to each other about a joint, the method comprising:

measuring with a sensor module a change in a center of mass of a user while the user is wearing the prosthetic device;

determine a user'"'"'s transition from a first gait pattern or event to a second gait pattern or event prior to the user transitioning to the second gait pattern or event based on measuring of the user'"'"'s change in center of mass; and

operating the prosthetic device to control movement between the first and second member based on the determination of the user'"'"'s transition from the first gait pattern or event to the second gait pattern or event.

37. The method of claim 36, wherein the sensor module is located on the prosthetic device.

38. The method of claim 36, wherein the sensor module comprises an accelerometer.

39. The method of claim 36, wherein the sensor module comprises a gyroscope.

40. The method of claim 36, wherein the sensor module comprises at least one sensor selected from the group consisting of a pressure sensor, a load cell, a potentiometer and a flex sensor.

41. The method of claim 36, wherein the sensor module comprises a myoelectric sensor.

42. The method of claim 36, wherein the lower limb prosthetic device comprises a knee device.

43. The method of claim 36, wherein the lower limb prosthetic device comprises an ankle device.