Biomimetic controller for a multi-finger prosthesis

• US 6,344,062 B1
• Filed: 03/18/1999
• Issued: 02/05/2002
• Est. Priority Date: 03/18/1999
• Status: Expired due to Fees

• Current Assignee: Nian-Crae, Inc., Rutgers University
• Original Assignee: Nian-Crae, Inc., The State University Rutgers
• Inventors: Newby, Nicki Ann, Glass, Carey A., Abboudi, Rochel Lieber, Craelius, William
• Primary Examiner(s): SNOW, BRUCE EDWARD
• Application Number:
  US09/271,673
• Time in Patent Office: 1,055 Days
• Field of Search: 623/24, 623/25, 623/64, 623/62
• US Class Current: 623/24
• CPC Class Codes: A61B 5/036 by means introduced into body tracts A61B5/032 and A61B5/035 take precedence
• CPC Class Codes: A61B 5/4519 Muscles A61B5/389, A61B5/224 take precedence
• CPC Class Codes: A61B 5/4523 Tendons
• CPC Class Codes: A61B 5/4533 Ligaments
• CPC Class Codes: A61F 2/54 Artificial arms or hands or parts thereof
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/7635 for measuring force, pressure or mechanical tension

Abstract

There is disclosed a control system for use with a prosthetic device comprising a sensor for sensing volitional movement of a muscle, tendon or ligament intended to cause an associated desired movement of another body part and generating an at least one signal in response thereto, and an electronic interface for analyzing at least one signal and sending a corresponding at least one control signal to the prosthetic or orthotic device indicative of the desired movement of another body part.

Claims

1. A control system for use with a prosthetic or orthotic device comprising:

at least one pneumatic sensor for sensing volitional movement of a muscle, tendon or ligament intended to cause an associated desired movement of another body part and generating at least one signal in response thereto; and

electronic interface means for analyzing said at least one signal and sending a corresponding at least one control signal to said prosthetic or orthotic device indicative of said desired movement of said another body part.

2. The control system according to claim 1, wherein said sensor means comprises a plurality of tendon activated pneumatic (TAP) sensors.

3. The control system according to claim 2, wherein said plurality of TAP sensors comprise foam cell sensor pads and including means for pressurized air flow.

4. The control system according to claim 3, wherein said foam cell sensor pads are made of open cell foam.

5. The control system according to claim 3, wherein said foam cell sensor pads are embedded by lamination in a sleeve, for positioning on a limb.

6. The control system according to claim 1, wherein said electronic interface means comprises:

input channel means for receiving said at least one signal;

transducer means for transducing said at least one signal into a corresponding at least one electronic signal to be processed;

signal processing means for performing signal analysis and signal processing of said at least one electronic signal for detecting and determining the degree of movement desired of the another body part for generating said at least one control signal;

memory means for storing information associated with said electronic signal; and

microprocessor means for controlling the storage of said information in memory and the sending of said at least one control signal to said prosthetic or orthotic device.

7. The control system according to claim 1, wherein said at least one signal is a pressure signal.

8. The control system according to claim 6, wherein said at least one signal is a pressure signal, and wherein said transducer means comprises a pressure transducer.

9. The control system according to claim 1, wherein said prosthetic or orthotic device comprises a mechanical device allowing manual manipulation of digits.

10. The control system according to claim 1, wherein said prosthetic or orthotic device comprises a host computer having display means for displaying information associated with said desired movement of said another body part from said at least one control signal.

11. The control system according to claim 1, wherein said prosthetic or orthotic device comprises an optical-electronic-tactile (OET) keypad.

12. The control system according to claim 1, wherein said associated tendons, muscles, or ligaments are associated with extension or flexion of fingers.

13. The control system according to claim 1, wherein said associated tendons comprise superficial tendons, each said tendon corresponding to an associated finger, and a superficial thumb extensor or flexor tendon corresponding to a thumb for providing movement thereto.

14. The control system according to claim 1, wherein said prosthetic or orthotic device comprises a game or toy.

15. The control system according to claim 1, wherein the associated muscles, tendons, or ligaments comprise flexion/extension pairs of tendons, muscles or ligaments.

16. The control system according to claim 2, wherein said another body part comprises a hand and a plurality of fingers including a thumb, and wherein each of said TAP sensors is for externally positioning on an associated muscle, tendon or ligament to sense movement of the associated tendon corresponding to a particular one of said fingers or hand for movement thereof to generate a pressure signal corresponding to a degree of volitional movement associated with said finger or hand.

17. The control system according to claim 3, further comprising a manifold coupled between each of said TAP sensors and said electronic interface means for receiving a plurality of pneumatic tubes, each said tube coupled to a corresponding one of said TAP sensors for conveying pressure signals and forming a single multi-lumen for input to said electronic interface means.

18. The control system according to claim 2, wherein each said TAP sensor is positioned externally on a body between an associated muscle, tendon, or ligament and said prosthetic or orthotic device for sensing the volitional movement of said associated muscle, tendon, or ligament.

19. A biomimetic controller comprising a plurality of pneumatic sensors, each of said for externally positioning on a body part for sensing a volitional movement of an associated muscle or tendon to cause a desired movement of another body part and generating a corresponding signal indicative of the sensed movement;

and

electronic interface means responsive to each said corresponding signal for analyzing said corresponding signal to provide a pattern of control signals to an output device indicative of the desired movement of said another body part.

20. The biomimetic controller according to claim 19, wherein said electronic interface means comprises:

input channel means for receiving each of said corresponding signals from said plurality of sensors;

transducer means for generating electrical signals based on said sensor signals;

signal processing means for performing digital filtering, amplification and spectral analysis for determining said pattern of control signals for output;

output means responsive to said signal processing means for providing said pattern of control signals to said output device.

21. The biomimetic controller according to claim 20, further comprising:

a microcontroller operative to control said signal processing and said output to the output device according to a particular mode of said controller; and

memory means for storing information associated with said electrical signals and said mode of operation.

22. The biomimetic controller according to claim 19, wherein said plurality of sensors comprise tendon activated pneumatic (TAP) sensors.

23. The biomimetic controller according to claim 19, wherein said corresponding signal indicative of the sensed movement of said associated muscle or tendon is a pressure signal.

24. The biomimetic controller according to claim 19, wherein said another body part includes at least one finger of a hand.

25. The biomimetic controller according to claim 19, wherein said another body part includes a plurality of fingers on a hand.

26. The biomimetic controller according to claim 22, wherein said plurality of TAP sensors comprises a first TAP sensor for positioning at a first location on an arm member including a finger for sensing tendon movement associated with desired movement of said finger.

27. The biomimetic controller according to claim 26, wherein said plurality of TAP sensors further comprises a second TAP sensor positioned at a second location on said arm member for sensing tendon movement associated with desired movement of another finger.

28. The biomimetic controller according to claim 27, wherein said plurality of TAP sensors further comprises a third TAP sensor positioned at a third location on said arm member for sensing tendon movement associated with the desired movement of a third finger.

29. The biomimetic controller according to claim 28, wherein said plurality of TAP sensors further comprises a fourth TAP sensor positioned at a fourth location on said arm member for sensing tendon movement associated with desired movement of a forearm or hand.

30. The controller according to claim 26, wherein said first TAP sensor is disposed on said arm member for sensing movement associated with the extensor pollicis brevis tendon.

31. The controller according to claim 27, wherein said second TAP sensor is disposed on said arm member for sensing movement associated with the flexor digitorum superficialis tendon.

32. The controller according to claim 28, wherein said third TAP sensor is disposed on said arm member for sensing movement associated with the flexor carpi ulnaris tendon.

33. The controller according to claim 29, wherein said fourth TAP sensor is located between the ulna and radius for detecting said forearm or hand rotation.

34. The controller according to claim 19, wherein said plurality of sensors are externally positioned relative to said corresponding muscle, tendon, or ligament at predetermined locations by means of a prosthetic socket.

35. The controller according to claim 19, wherein said plurality of sensors are externally positioned relative to said corresponding muscle, tendon or ligament by means of an adjustable band circumferentially disposed around an outer surface an arm member.

36. A control system for use with a prosthetic or orthotic device comprising:

at least one pneumatic sensor for sensing volitional movement of a muscle, tendon or ligament intended to cause an associated desired movement of another body part and generating at least one signal in response thereto; and

an electronic interface comprising;

an input channel for receiving said at least one signal;

a transducer for transducing said at least one signal into a corresponding at least one electronic signal to be processed;

signal processing for performing signal analysis and signal processing of said at least one electronic signal for detecting and determining the degree of movement desired of the another body part for generating said at least one control signal;

memory for storing information associated with said electronic signal; and

a microprocessor for controlling the storage of said information in memory and the sending of said at least one control signal to said prosthetic or orthotic device.