Method and apparatus for switching degrees of freedom in a prosthetic limb
First Claim
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1. A method for switching amongst a plurality of degrees of freedom of a prosthesis comprising the steps of;
- (1) storing a pattern representing myoelectric signals of a muscle corresponding to a predesignated muscle contraction, said pattern comprising a first plurality of data points, each data point being representative of an instantaneous amplitude of said myoelectric signals at an instant in time,(2) obtaining a second plurality of data points, each of said second plurality of data points being representative of the instantaneous amplitude of myoelectric signals of said muscle in real time,(3) comparing said second set of data points with said first set of data points, and(4) switching amongst said degrees of freedom if said real time myoelectric signals are similar to said stored pattern within a predetermined limit.
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Abstract
The invention comprises a method and apparatus for switching between degrees of freedom in a prosthesis responsive to myoelectric signals generated by muscles. In the invention, an average pattern corresponding to a specified muscle contraction is stored in memory. In operation, the invention continuously stores a specified preceding interval of the incoming myoelectric signals and compares the data in that interval with the stored average pattern. If the incoming data is sufficiently similar to the stored average pattern, a recognition occurs and the device switches degrees of freedom.
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Citations
26 Claims
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1. A method for switching amongst a plurality of degrees of freedom of a prosthesis comprising the steps of;
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(1) storing a pattern representing myoelectric signals of a muscle corresponding to a predesignated muscle contraction, said pattern comprising a first plurality of data points, each data point being representative of an instantaneous amplitude of said myoelectric signals at an instant in time, (2) obtaining a second plurality of data points, each of said second plurality of data points being representative of the instantaneous amplitude of myoelectric signals of said muscle in real time, (3) comparing said second set of data points with said first set of data points, and (4) switching amongst said degrees of freedom if said real time myoelectric signals are similar to said stored pattern within a predetermined limit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 26)
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15. An apparatus for switching amongst a plurality of degrees of freedom of a prosthesis comprising;
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memory means for storing a a first plurality of data points corresponding to myoelectric signals generated by a muscle corresponding to a predesignated muscle contraction, each data point being representative of an instantaneous amplitude of said myoelectric signals corresponding to said predesignated muscle contraction, means for receiving myoelectric signals from said muscle, means for converting said myoelectric signals to a second plurality of data points, each data point being representative of an instantaneous amplitude of said received myoelectric signal, processing means for comparing said second plurality of data points with said first plurality of data points, and means for switching degrees of freedom of said prosthesis responsive to said second plurality of data points being similar to said first plurality of data points within a specified tolerance. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23)
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24. An apparatus for switching amongst a plurality of degrees of freedom of a prosthesis comprising;
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a digital memory for storing a first plurality of data points corresponding to first and second myoelectric signals generated by first and second muscles, respectively, of a pair of agonist-antagonist muscles corresponding to a predesignated muscle contraction, each data point being representative of an instantaneous amplitude of said myoelectric signals at an instant in time, a first electrode for receiving first myoelectric signals from said first electrode, a second electrode for receiving second myoelectric signals from said second muscle, a rectifier for full-wave rectifying said first and second myoelectric signals, a smoothing circuit for smoothing said first and second myoelectric signals, an analog-to-digital converter for converting said first and second myoelectric signals to a second plurality of data points, each of said second plurality of data points being representative of an instantaneous amplitude of said first or second myoelectric signals, respectively, processing means for comparing said second plurality of data points with said first plurality of data points, and a switch for switching degrees of freedom of said prosthesis responsive to said second plurality of data points being similar to said first plurality of data points within a specified tolerance.
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25. An apparatus for switching amongst a plurality of degrees of freedom of a prosthesis comprising;
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a digital memory for storing a first set of data points corresponding to first and second myoelectric signals generated by first and second muscles, respectively, of a pair of agonist-antagonist muscles corresponding to a predesignated muscle contraction, each data point being representative of an instantaneous amplitude of said myoelectric signals at an instant in time, a first twin-contact electrode for receiving first myoelectric signals from said first muscle, a second twin-contact electrode for receiving second myoelectric signals from said second muscle, a third electrode for receiving a ground reference signal, an amplifier for amplifying said first and second myoelectric signals, a filter for removing noise from said first and second myoelectric signals, a rectifier for full-wave rectifying said first and second myoelectric signals, a smoothing circuit for smoothing said first and second myoelectric signals, an analog to digital converter for converting said first and second myoelectric signals to a second plurality of data points, each of said second plurality of data points being representative of an instantaneous amplitude of said first or second myoelectric signals, at a specified rate corresponding to the data on said first set of data points, processing means comprising, means for continuously storing, as said second plurality of data points, data points corresponding to a specified interval of the immediately preceding first and second myoelectric signals, means for comparing said second plurality of data points with said first plurality of data points every time a pair of data points is converted, and means for determining the deviation of said second plurality of data points from said first plurality of data points, and means for switching degrees of freedom of said prosthesis responsive to said deviation being less than a specified value.
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Specification