Multi-axis tilt estimation and fall remediation

• US 8,092,398 B2
• Filed: 04/10/2006
• Issued: 01/10/2012
• Est. Priority Date: 08/09/2005
• Status: Active Grant

• Current Assignee: Charles Stark Draper Laboratory Incorporated, Massachusetts Eye And Ear Infirmary (Foundation of The Massachusetts Eye and EAR Infirmary Incorporated)
• Original Assignee: Charles Stark Draper Laboratory Incorporated, Massachusetts Eye And Ear Infirmary (Foundation of The Massachusetts Eye and EAR Infirmary Incorporated)
• Inventors: Weinberg, Marc S., Wall, Conrad III, Sienko, Kathleen H., O'Neil, Edward W.
• Primary Examiner(s): SZMAL, BRIAN SCOTT
• Application Number:
  US11/401,106
• Publication Number:
  US 20070038268A1
• Time in Patent Office: 2,101 Days
• Field of Search: 600/587, 600/595, 128/897, 246/5, 245/5, 2DI/G 3, 340/573.1, 607/62, 607/48, 607/49, 738/654, 735/09, 735/10, 708/809, 708/811, 702/150
• US Class Current: 600/595
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04 ; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003

Abstract

Among other things, a vestibular prosthesis includes a wearable motion sensing system, the motion sensing system generating a motion signal indicative of a motion thereof, wherein the motion includes rotation about two distinct axes; a signal processor in communication with the motion sensing system, the signal processor being configured to generate an estimate of a tilt of the motion sensing system; and an actuator responsive to the estimate of the tilt made by the signal processor.

Claims

1. A vestibular prosthesis comprising:

a wearable motion sensing system including accelerometers and gyroscopes, the motion sensing system is configured to generate motion signals indicative of a motion thereof, wherein the motion includes rotation about two distinct axes;

a signal processor in communication with the motion sensing system, the signal processor being configured

to generate a first estimate of a tilt of the motion sensing system based on a nonlinear relationship between output from the accelerometers and quaternions that transform a direction of a gravity vector into a body frame of reference that is stationary with respect to the motion sensing system,

to generate a second estimate of the tilt based on output from the gyroscopes,

to generate a third estimate of the tilt based on the first estimate and the second estimate, and

to represent the first, second, and third estimates as quaternions;

an actuator configured to be triggered responsive to the third estimate of the tilt being in a predetermined region of a decision space having a first dimension representing a value of the tilt and a second dimension representing a rate of change of the tilt.

2. The prosthesis of claim 1, further comprising a stimulator in communication with the actuator, the stimulator being configured to generate a stimulus signal based on the tilt of the motion sensing system.

3. The prosthesis of claim 1, wherein the signal processor is configured to generate the third estimate by using a Kalman filter.

4. The prosthesis of claim 1, further comprising an airbag in communication with the actuator, wherein the signal processor is configured to cause the actuator to deploy the airbag when the tilt of the motion sensing system is within a the pre-determined region of the decision space, or when the motion has pre-determined characteristics.

5. The prosthesis of claim 1 wherein the signal processor is configured to reject errors caused by low-frequency drift of the gyroscopes and high-frequency acceleration of the accelerometers.

6. The prosthesis of claim 1 wherein a range of the tilt includes 0 degrees and 180 degrees.

7. The prosthesis of claim 1 wherein the actuator is configured to deliver a signal selected from the group consisting of:

a tactile signal delivered by vibrating elements, an acoustic signal delivered by a headset, a visual signal delivered by selectively illuminated light sources, and a deployment signal for deploying an airbag.

8. A vestibular prosthesis comprising:

a wearable motion sensing system including accelerometers and gyroscopes, the motion sensing system is configured to generate motion signals indicative of a motion thereof, wherein the motion includes rotation about two distinct axes;

a signal processor in communication with the motion sensing system, the signal processor being configured

to generate a first estimate of a tilt of the motion sensing system based on a direction of a gravity vector, in a body frame of reference that is stationary with respect to the motion sensing system, determined based on Euler angles relating a motion of the accelerometers to the tilt of the motion sensing system,

to generate a second estimate of the tilt based on Euler angles relating motion of the gyroscopes to the tilt of the motion sensing system, and

to generate a third estimate of the tilt based on the first estimate and the second estimate, and

an actuator configured to be triggered responsive to the third estimate of the tilt being in a predetermined region of a decision space having a first dimension representing a value of the tilt and a second dimension representing a rate of change of the tilt.

9. The prosthesis of claim 8, wherein the signal processor is configured to determine a first redundant Euler angle and a second redundant Euler angle, and generate the first estimate based further on the first redundant Euler angle, and generate the second estimate based on the second redundant Euler angle.

10. The prosthesis of claim 8, further comprising a stimulator in communication with the actuator, the stimulator being configured to generate a stimulus signal based on the tilt of the motion sensing system.

11. The prosthesis of claim 8, further comprising an airbag in communication with the actuator, wherein the signal processor is configured to cause the actuator to deploy the airbag when the tilt of the motion sensing system is within a pre-determined range, or when the motion has pre-determined characteristics.

12. The prosthesis of claim 8, wherein the signal processor is configured to generate the third estimate by using a Kalman filter.

13. The prosthesis of claim 8 wherein the signal processor is configured to reject errors caused by low-frequency drift of the gyroscopes and high-frequency acceleration of the accelerometers.

14. The prosthesis of claim 8 wherein a range of the tilt includes 0 degrees and 180 degrees.

15. The prosthesis of claim 8 wherein the actuator is configured to deliver a signal selected from the group consisting of:

a tactile signal delivered by vibrating elements, an acoustic signal delivered by a headset, a visual signal delivered by selectively illuminated light sources, and a deployment signal for deploying an airbag.

16. A method of estimating a tilt of a wearer, the method comprising:

generating, by a motion sensor, motion signals indicative of rotations about at least two axes as experienced by the wearer, wherein generating the motion signals includes generating accelerometer signals and gyro signals, processing the accelerometer signals including determining an accelerometer quaternion, and processing the gyro signals including determining a gyro quaternion;

generating, by a processor, a first estimate of the tilt of the wearer based on a nonlinear relationship between the accelerometer signals and quaternions that transform a direction of gravity into a body frame of reference that is stationary with respect to the motion sensing system;

generating, by the processor, a second estimate of the tilt of the wearer based on the gyro signals;

generating, by the processor, a third estimate of the tilt of the wearer based on the first and second estimates; and

providing an output signal to a nervous system of the wearer, the output signal being indicative of the third estimate of the tilt of the wearer and responsive to determining that the third estimate is in a predetermined region of a decision space having a first dimension representing the value of the tilt and a second dimension representing a rate of change of the tilt.

17. The method of claim 16 further comprising taking remedial action in response to determining that the third estimate of the tilt of the wearer is in the predetermined region of the decision space.

18. The method of claim 17, wherein taking remedial action comprises deploying an airbag worn by the wearer.

19. The method of claim 17 further comprising monitoring changing values of the third estimate with respect to the decision space.

20. The method of claim 17 wherein the predetermined region includes:

at least a first region in which no remedial action is triggered, at least a second region in which a first remedial action is triggered, and at least a third region in which a second remedial action different from the first remedial action is triggered.

21. The method of claim 16, wherein generating the third estimate includes combining the first and second estimates by using a Kalman filter.

22. A method of estimating a tilt of a wearer, the method comprising:

generating, by a motion sensor, motion signals indicative of rotations about at least two axes as experienced by the wearer, wherein generating the motion signals includes generating accelerometer signals and gyro signals, processing the accelerometer signals including determining accelerometer Euler angles, and processing the gyro signals including determining gyro Euler angles;

generating, by a processor, a first estimate of the tilt of the wearer based on a direction of a gravity vector, in a body frame of reference that is stationary with respect to the motion sensing system, determined based on the accelerometer Euler angles determined from processing the accelerometer signals;

generating, by the processor, a second estimate of the tilt of the wearer based on the gyro signals;

generating, by the processor, a third estimate of the tilt of the wearer based on the first and second estimates; and

providing an output signal to a nervous system of the wearer, the output signal being indicative of the third estimate of the tilt of the wearer and responsive to determining that the third estimate is in a predetermined region of a decision space having a first dimension representing the value of the tilt and a second dimension representing a rate of change of the tilt.

23. The method of claim 22, further comprising taking remedial action in response to determining that the third estimate of the tilt of the wearer is in the predetermined region of the decision space.

24. The method of claim 23 further comprising monitoring changing values of the third estimate with respect to the decision space.

25. The method of claim 23 wherein the predetermined region includes:

at least a first region in which no remedial action is triggered, at least a second region in which a first remedial action is triggered, and at least a third region in which a second remedial action different from the first remedial action is triggered.

26. The method of claim 23, wherein taking remedial action comprises deploying an airbag worn by the wearer.

27. The method of claim 22, wherein processing the accelerometer signals further includes determining a first redundant Euler angle, and processing the gyro signals further includes determining a second redundant Euler angle.

28. The method of claim 22, wherein generating the third estimate includes combining the first and second estimates.