System for control of a prosthetic device

• US 8,864,845 B2
• Filed: 02/16/2010
• Issued: 10/21/2014
• Est. Priority Date: 02/06/2007
• Status: Active Grant

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: DEKA Limited Partnership
• Inventors: van der Merwe, Dirk Albertus, Kerwin, John Matthew, Guay, Gerald Michael, Perry, N. Christopher, Dastous, Susan D., Lanier, Gregory Randall Jr.
• Primary Examiner(s): Hoffman, Marcia
• Application Number:
  US12/706,575
• Publication Number:
  US 20100268351A1
• Time in Patent Office: 1,708 Days
• Field of Search: 623/24, 623/25, 623/60, 623/62, 623/64, 623/57
• US Class Current: 623/24
• CPC Class Codes: A61B 5/1036 Measuring load distribution, e.g. podologic studies
• CPC Class Codes: A61B 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/389 Electromyography [EMG]
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/6807 Footwear
• CPC Class Codes: A61F 2/54 Artificial arms or hands or parts thereof
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2/76 Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
• CPC Class Codes: A61F 2002/6827 Feedback system for providing user sensation, e.g. by force, contact or position
• 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 2002/707 Remote control
• CPC Class Codes: A61F 2002/762 for measuring dimensions, e.g. a distance
• CPC Class Codes: A61F 2002/7625 for measuring angular position
• CPC Class Codes: A61F 2002/763 for measuring spatial position, e.g. global positioning system [GPS]
• CPC Class Codes: A61F 2002/7635 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61F 2002/764 for measuring acceleration
• CPC Class Codes: A61F 2002/765 : for measuring time or frequency
• CPC Class Codes: A61F 2002/7685 : located on natural or sound-site limbs, e.g. comparison measuring means
• CPC Class Codes: G01C 21/166 : Mechanical, construction or arrangement details of inertial navigation systems
• CPC Class Codes: G01C 9/00 : Measuring inclination, e.g. by clinometers, by levels
• CPC Class Codes: G05B 15/02 : electric

Abstract

A system for control of a prosthetic device includes at least one Inertial Measurement Unit detecting orientation of a user'"'"'s foot. The at least one Inertial Measurement Unit is in communication with a device module configured to command at least one actuator of a prosthetic device. The at least one Inertial Measurement unit sends output signals related to orientation of the user'"'"'s foot to the device module and the device module controls the at least one actuator of the prosthetic device based on the signals from the at least one Inertial Measurement Unit. The device module controls movement of an endpoint of the device within a movement envelope. The device module commanding movement of the end point within the movement envelope through at least simultaneous and/or independent actuation of the plurality of actuators based on the at least one body input signal in accordance with a movement function to achieve the desired directional movement of the endpoint within the movement envelope.

Claims

1. A control system for a prosthetic device comprising:

at least one sensor module adapted to receive at least one body input signal;

at least one device module having at least one prosthetic control mode, the device module being in communication with the at least one sensor module; and

a plurality of actuators of the prosthetic device configured to receive commands from the device module;

wherein the device module receives at least one body input signal from the at least one sensor module and commands at least one actuator of the plurality of actuators in accordance with the at least one body input signal;

wherein the at least one prosthetic control mode includes a bulk mode in which the at least one body input signal is indicative of a desired directional movement of an endpoint of the prosthetic device;

wherein the device module controls movement of the endpoint of the prosthetic device within a movement envelope having a boundary defining a limit to positions of the end point in each direction based on a length of the prosthetic device in combination with movement limitations of the plurality of actuators, the device module commanding movement of the end point within the movement envelope through each of simultaneous and separate actuations of the plurality of actuators based on the at least one body input signal in accordance with a movement function to achieve the desired directional movement of the endpoint within the movement envelope; and

wherein the device module commands a movement of the endpoint along the boundary of the movement envelope through actuation of the plurality of actuators that is different than the desired directional movement when the desired directional movement of the at least one body input signal would require movement outside of the movement envelope, the commanded movement along the boundary including at least a first directional component of the desired directional movement commanded by the at least one body input signal and at least a second directional component different from the desired directional movement commanded by the at least one body input signal.

2. The control system according to claim 1 further comprising wherein the at least one device module further comprising at least a second prosthetic control mode and wherein the device module commands at least one actuator of the plurality of actuators in accordance with the at least one body input signal and a current control mode of the prosthetic control modes.

3. The control system according to claim 1 further comprising wherein the at least one sensor module comprising at least one inertial measurement unit.

4. The control system according to claim 3 further comprising wherein the at least one inertial measurement unit comprising at least one accelerometer.

5. The control system according to claim 3 further comprising wherein the inertial measurement unit comprising at least one accelerometer configured to detect accelerations in three perpendicular axes.

6. The control system according to claim 3 further comprising wherein the inertial measurement unit includes at least three accelerometers oriented to detect accelerations in three perpendicular axes.

7. The control system according to claim 4 further comprising wherein the sensor module sends body input signals to the device module according to the accelerations detected by the at least one accelerometer and the device module detects user walking based at least on the body input signals.

8. The control system according to claim 7 further comprising wherein the device module stops sending commands to the plurality of actuators of the prosthetic device when user walking is detected.

9. The control system according to claim 1 further comprising wherein the at least one prosthetic control mode includes a finesse mode controlling movement of a prosthetic hand.

10. The control system according to claim 9 further comprising wherein the finesse mode additionally controls movement of a prosthetic wrist.

11. The control system according to claim 9 further comprising wherein the finesse mode includes a plurality of grips controlling movement of the prosthetic hand.

12. A system for control of a prosthetic device comprising:

at least one sensor module having an inertial measurement unit;

a device module in communication with the at least one sensor module; and

a plurality of actuators of the prosthetic device configured to receive commands from the device module;

wherein the at least one sensor module sends body input signals related to orientation to the device module, the body input signals being indicative of a desired directional movement of an endpoint of the prosthetic device;

wherein the device module sends commands to at least one actuator of the plurality of actuators of the prosthetic device based at least on the body input signals from the at least one sensor module;

wherein the device module controls movement of the endpoint of the prosthetic device within a movement envelope having a boundary defining a limit to positions of the end point in each direction based on a length of the prosthetic device in combination with movement limitations of the plurality of actuators, the device module commanding movement of the end point within the movement envelope through each of simultaneous and separate actuations of the plurality of actuators based on the at least one body input signal in accordance with a movement function to achieve the desired directional movement of the endpoint within the movement envelope; and

wherein the device module commands a movement of the endpoint along the boundary of the movement envelope through actuation of the plurality of actuators that is different than the desired directional movement when the desired directional movement of the body input signals would require movement outside of the movement envelope, the commanded movement along the boundary including at least a first directional component of the desired directional movement commanded by the body input signals and at least a second directional component different from the desired directional movement commanded by the at least one body input signal.

13. The system according to claim 12 further comprising wherein the inertial measurement unit includes at least two accelerometers and at least one gyroscope detecting orientation about at least three axis.

14. The system according to claim 12 further comprising wherein the sensor module includes a sensor CPU configured to process the body input signals.

15. The system according to claim 12 further comprising wherein the sensor module includes a sensor communicator configured to wirelessly transmit the body input signals to the device module.

16. The system according to claim 15 further comprising wherein the sensor communicator is a radio frequency transmitter.

17. The system according to claim 12 further comprising at least one feedback sensor disposed on the prosthetic device in communication with the device module.

18. The system according to claim 17 further comprising wherein the at least one feedback sensor sends at least one prosthetic device status signal to the device module and the device module sends commands to at least one actuator of the plurality of actuators of the prosthetic device based on the at least one prosthetic device status signal.