Control device and system for controlling an actuated prosthesis
First Claim
1. A device for determining a portion of locomotion and a phase of locomotion portion in view of controlling an actuated prosthesis in real time using a plurality of main artificial proprioceptors, the device comprising:
- a data signal input for each of the main artificial proprioceptors;
means for obtaining a first and a second derivative signal for at least some of the data signals;
means for obtaining a third derivative signal for at least one of the data signals;
a set of first state machines, the first state machines being used to select one state among a plurality of possible states for each artificial proprioceptor with the corresponding data and derivative signals;
means for generating the phase of locomotion portion using the states of the main artificial proprioceptors; and
a second state machine, the second state machine being used to select the portion of locomotion among a plurality of possible portions of locomotion using events associated to the data signals.
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Accused Products
Abstract
A method and a control system are used for determining a portion of locomotion and a phase of locomotion portion in view of controlling an actuated prosthesis in real time. The method comprises receiving a data signal from a plurality of main artificial proprioceptors, obtaining a first and a second derivative signal for each data signal, obtaining a third derivative signal for at least one of the data signals, using a set of first state machines to select one state among a plurality of possible states for each artificial proprioceptor with the corresponding data and derivative signals, generating the phase of locomotion portion using the states of the main artificial proprioceptors; and using a second state machine to select the portion of locomotion among a plurality of possible portions of locomotion using events associated to the data signals. It is particularly well adapted for an actuated, above-knee leg prosthesis.
171 Citations
31 Claims
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1. A device for determining a portion of locomotion and a phase of locomotion portion in view of controlling an actuated prosthesis in real time using a plurality of main artificial proprioceptors, the device comprising:
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a data signal input for each of the main artificial proprioceptors; means for obtaining a first and a second derivative signal for at least some of the data signals; means for obtaining a third derivative signal for at least one of the data signals; a set of first state machines, the first state machines being used to select one state among a plurality of possible states for each artificial proprioceptor with the corresponding data and derivative signals; means for generating the phase of locomotion portion using the states of the main artificial proprioceptors; and a second state machine, the second state machine being used to select the portion of locomotion among a plurality of possible portions of locomotion using events associated to the data signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for determining a portion of locomotion and a phase of locomotion in view of controlling an actuated prosthesis in real time using a plurality of main artificial proprioceptors, the method comprising:
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receiving a data signal from each of a plurality of main artificial proprioceptors; determining a first and a second derivative signal for at least some of the data signals; determining a third derivative signal for at least one of the data signals; selecting, using a plurality of first state machines executing on a computing device, a state among a plurality of possible states for each main artificial proprioceptor with the corresponding data and derivative signals; generating a phase of locomotion using the states of the main artificial proprioceptors; and selecting, using a second state machine, a portion of locomotion among a plurality of possible portions of locomotion using events associated with the data signals. - View Dependent Claims (20, 21, 22, 23, 24)
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25. A device for determining a portion of locomotion and a phase of locomotion in view of controlling an actuated prosthesis in real time using a plurality of main artificial proprioceptors, the device comprising:
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a data signal input for each of a plurality of main artificial proprioceptors; a processing module executing on a computing device, wherein the processing module is configured to determine a first and a second derivative signal for at least a portion of the data signals and to determine a third derivative signal for at least one of the data signals; and a plurality of state machines comprising, at least one first state machine configured to select one state among a plurality of possible states for each of the main artificial proprioceptors having corresponding data and derivative signals, wherein the processing module is further configured to generate a phase of locomotion using the selected states of the main artificial proprioceptors, and a second state machine configured to select a portion of locomotion among a plurality of possible portions of locomotion using events associated with the data signals. - View Dependent Claims (26, 27, 28, 29, 30, 31)
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Specification