Prosthesis control system

• US 5,893,891 A
• Filed: 07/14/1997
• Issued: 04/13/1999
• Est. Priority Date: 06/11/1993
• Status: Expired due to Term

• Current Assignee: Blatchford Products Limited (CBPE Capital LLP)
• Original Assignee: CHAS A Blatchford & Sons Limited
• Inventors: Zahedi, Mir Saeed
• Primary Examiner(s): Willse, David H.
• Application Number:
  US08/892,243
• Time in Patent Office: 638 Days
• Field of Search: 623/24, 623/43, 623/44, 623/25, 414/5
• US Class Current: 623/24
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/5003 having damping means, e.g. shock absorbers for implantable joints A61F2002/30563
• 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 2250/0002 for data transfer

Abstract

An adaptive control system for an artificial limb has a piston and cylinder assembly for controlling knee joint flexion, an electronically driven motorised valve for varying the damping effect of the assembly, a proximity sensor for sensing knee flexion, and a processor circuit for mounting on the limb. The system also has a radio receiver connected to the processor circuit and an operator control unit for remote transmission of command signals to the receiver. In a teach mode, the system allows an operator to increment the valve opening by remote control to optimise operation of the limb, and to cause the processor circuit to record selected valve openings in conjunction with average step period values which are produced automatically by the system during use of the limb. Recording a new selected valve opening causes the processor circuit on the limb automatically to calculate a set of control data relating valve openings to walking speed ranges. This set of control data is used in a playback mode of the system for automatically adjusting the valve opening during normal use of the limb.

Claims

1. An adaptive control system for an artificial limb, comprising:

a limb movement control device for mounting on the limb;

a sensor for generating electrical sensor signals in response to movement of the limb;

an electronic processing circuit electrically coupled to the sensor and the control device;

a remote operator control unit for the transmission of command signals to the limb; and

a receiver to form part of the limb and coupled to the processing circuit for receiving the command signals,

wherein the processing circuit includes;

data generating means operable in a teach mode and a playback mode of the processing circuit automatically and repeatedly to generate measurement data values related to the speed of operation of the limb in response to the sensor signals,

control device setting means operable to feed setting signals in both modes to the control device for adjusting the control device so as to affect movement of the limb, the setting means further being operable in the teach mode to feed the setting signals to the control device according to parameter values generated in the processing circuit in response to the command signals received by the processing circuit via the receiver from the remote control unit to adjust the control device in real time under operator control during operation of the limb,

means arranged to process the parameter values representing selected settings of the control device obtained during the teach mode together with the associated said measurement data values to generate automatically a set of control data representing a relationship between speed of limb operation and control device settings, and

storage means for storing the set of control data,

the setting means being further operable during the playback mode as the limb is operated to process the resulting said measurement data values in conjunction with the stored set of control data to generate the said setting signals for the control device, whereby the control device is automatically adjusted according to the speed of the limb operation.

2. A system according to claim 1, wherein in the control device is a knee flexion control device for mounting in an above-knee lower limb prosthesis and wherein the resistance to movement of the limb is affected by adjusting the control device.

3. A system according to claim 2, wherein the control device is a piston and cylinder assembly having a valve and an electric motor coupled to the valve for altering the degree of opening of the valve.

4. A system according to claim 2 or claim 3, wherein the sensor is arranged to produce pulsed sensor signals, one pulse being generated for each step taken.

5. A system according to claim 2, wherein the data generating means is operable continuously during the teach mode to generate measurement data values which are running averages of step periods as the limb is operated.

6. A system according to claim 2, wherein said system is incorporated in a lower limb prosthesis, the control device being secured to a thigh component and a shin component of the prosthesis.

7. A system according to claim 3, wherein the sensor has a first part mounted on the piston of the piston and cylinder assembly, and a second part mounted on the cylinder of the assembly.

8. A system according to claim 1, wherein the operator remote control unit includes a transmitter for transmitting the command signals to the receiver as electromagnetically radiated signals.

9. A system according to claim 1, wherein the processing circuit further includes saving means responsive to a further command signal received via the receiver from the remote control unit to feed automatically to the storage means signals representative of the measurement data value and the parameter value associated with a selected instant in time for each of a plurality of different limb operation speeds.

10. A system according to claim 9, wherein the processing circuit is operable in response to each operation of the saving means to calculate automatically a series of measurement data boundary values based on measurement data values selected during the teach mode to define a plurality of measurement data value ranges.

11. A system according to claim 10, wherein the processing circuit is operable automatically to calculate interpolated parameter values to provide a set of parameter values to correspond to the measurement data value ranges.

12. A system according to claim 1, wherein the remote control unit has control means for increasing and decreasing the control device parameters.

13. A system according to claim 1, wherein the processing circuit is arranged to be mounted on the limb together with the sensor and the receiver.

14. A system according to claim 1, wherein the processing circuit includes checking means for checking that the selected control device settings of said set of control data are correctly ordered in magnitude with respect to the corresponding stored measurement data values.

15. A system according to claim 1, wherein the means arranged to process the parameter values is responsive to a command signal generated in the remote control unit under operator control during the teach mode at the point when the adjustment of the control device has yielded a required control device setting, the command signal thereby causing the selection of the control device setting associated with a selected instant in time, and the parameter values processed include that representing said required control device setting.

16. A method of controlling an artificial limb in which, during a teach phase, movement of the limb is automatically and repeatedly monitored by electronic means forming part of the limb with a series of measurement data values related to the speed of operation of the limb being generated in the electronic means, a remote control unit is operated in conjunction with a receiver forming part of the limb during operation of the limb to transmit command signals to the limb which are processed by the electronic means to generate setting signals for adjusting a limb movement control device of the limb in real time with the object of improving limb operation, data generated in the electronic means and representing selected settings of the control device are processed in the electronic means together with the associated said measurement data values to generate a set of control data representing a relationship between speed of limb operation and control device settings, and the set of control data is then stored in the electronic means, and in which method, during a playback phase, the movement of the limb is automatically and repeatedly monitored by the electronic means to generate a series of measurement data values related to the speed of operation of the limb which are then processed by the electronic means in conjunction with the stored set of control data to generate appropriate control device setting signals for automatically adjusting the control device according to the speed of limb operation.

17. A method according to claim 16 for controlling knee movements of an above-knee lower limb prosthesis, wherein the selected settings of the control device correspond to different degrees of resistance to knee movement.

18. A method according to claim 17, wherein the control device is a piston and cylinder assembly and wherein operation of the control device comprises driving an electric motor to alter the degree of opening of a valve in the assembly.

19. A method according to claim 17, wherein the speed of operation of the limb is monitored using a sensor which produces a pulsed signal when the limb is operated, the electronic means measuring the pulse repetition rate.

20. A method according to claim 19, wherein the command signals are transmitted to the receiver as electromagnetic radiation.

21. A method according to claim 19, wherein the measurement data values are continuously generated by the electronic means as a series of running averages of the step period during both the teach phase and the playback phase as the limb is operated.

22. A method according to claim 16, including generating in the remote control unit a further command signal, and, in the electronic means, causing, in response to the further command signal, selection and storage of the measurement data value and the control device setting associated with the instant in time the further command signal is transmitted, whereby control device settings and measurement data values can be selected and saved for a plurality of different respective speeds of operation.

23. A method according to claim 22, wherein the processing of the selected control device settings and measurement data values to generate the control data set is performed in response to the said saving.

24. A method according to claim 22, wherein the processing of the selected control device settings and measurement data values comprises calculation of a series of measurement data boundary values based on the selected measurement data values to define a plurality of different consecutive measurement data value ranges, and wherein the processing of the control device settings comprises calculating interpolated settings to provide a set of control device setting values to correspond to the measurement data value ranges.

25. A method according to claim 16, wherein the command signals include control device incrementing signals for increasing or decreasing a parameter of the control device in steps.

26. A method according to claim 16, wherein the remote control unit is further operated to transmit a further command signal at the point when said adjustment has resulted in a required control device setting, the signal causing the electronic means to select the setting associated with a selected instant in time during limb operation, and said selected settings of the control device include said required control device setting.

27. A prosthesis control system for an artificial limb, comprising:

a limb movement controller arranged to control movement of the artificial limb;

a sensor arranged to generate a sensor signal having a characteristic representative of the speed of operation of the artificial limb;

a data storage device medium arranged to store a set of control data representing a relationship between settings of the controller and speeds of operation of the limb as represented by measurement values derived from the sensor signal;

an electronic processor arranged, in a playback mode, to receive the sensor signal and to feed to the controller first setting signals for controlling the movement of the limb, the setting signals representing the controller settings of the scored control data related to the measurement values obtained from the received sensor signal; and

a command signal receiver arranged to receive operator command signals in a teach mode of the processor during operation of the limb;

wherein said processor is arranged, in the teach mode, to feed to the controller second setting signals in response to said command signals to adjust the controller so as to affect movement of the limb directly under operator control in real time during operation of the limb, to generate an updated set of control data representing a relationship between selected settings of the controller corresponding to said second setting signals and corresponding speeds of limb operation as represented by measurement values derived from the sensor signal, and to cause the updated set of control data to be stored in said data storage device medium for subsequent use in generating said first setting signals.

28. A system according to claim 27, further comprising a remote operator control unit for transmitting the command signals to the command signal receiver.

29. A system according to claim 27, wherein the electronic processor is further arranged, in the teach mode, to generate said measurement values as running averages of step periods during operation of the limb.

30. A system according to claim 27, wherein the remote operator control unit is arranged to transmit a data storing signal, the processor being arranged to respond to said data storing signal by causing the updated set of control data to be stored in said data storage device medium.

31. A system according to claim 27, wherein the processor is arranged to select under operator control a required adjusted control device setting associated with a selected instant in time during operating of the limb and wherein the updated set of control data represents a relationship involving the adjusted setting as well as other said selected settings of the controller.

32. A system according to claim 31, wherein the processor is arranged to generate the updated set of control data automatically at the time the adjusted controller setting is selected.

33. A system according to claim 32, wherein the processor is arranged to calculate the updated set of control data automatically each time a controller setting is readjusted.