Control systems and methods for prosthetic or orthotic devices

• US 9,017,418 B2
• Filed: 05/04/2010
• Issued: 04/28/2015
• Est. Priority Date: 05/05/2009
• Status: Active Grant

• Current Assignee: Ossur hf
• Original Assignee: Ossur hf
• Inventors: Clausen, Arinbjrn V.
• Primary Examiner(s): SNOW, BRUCE EDWARD
• Application Number:
  US12/773,788
• Publication Number:
  US 20100286796A1
• Time in Patent Office: 1,820 Days
• Field of Search: 623/24, 623 44- 45, 623/50
• US Class Current: 623/24
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/605 Hip joints
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/6827 Feedback system for providing user sensation, e.g. by force, contact or position
• CPC Class Codes: A61F 2002/6863 magnetic
• CPC Class Codes: A61F 2002/689 Alarm means, e.g. acoustic
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• 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 2002/769 Displaying measured values
• CPC Class Codes: A61F 2250/008 Alarm means
• CPC Class Codes: A61F 5/0102 specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
• CPC Class Codes: G05B 15/02 electric

Abstract

Geomagnetic methods and systems are used for monitoring the directionality of a prosthetic or orthotic device. Certain methods may include measuring multiple data points over a particular time interval to identify orientation information with respect to a prosthetic or orthotic device and/or used in the real-time control of the prosthetic or orthotic device. In certain examples, multiple points may be further compared with stored orientation data associated with predefined unsafe gait patterns. Control instructions and/or alerts based on the geomagnetic measurements can then be generated for the prosthetic or orthotic device, such as if the orientation data information matches one of the predefined unsafe gait patterns.

Claims

1. A motion-controlled prosthetic or orthotic device comprising:

a first upper member;

a second lower member moveable relative to the first upper member at a location generally corresponding to a location of a natural human joint location, wherein the first upper and second lower members are articulated about the joint location with respect to each other;

at least one geomagnetic sensor disposed on the motion-controlled prosthetic or orthotic device, wherein the at least one geomagnetic sensor is configured to monitor the geomagnetic directionality of the prosthetic or orthotic device with respect to the earth'"'"'s magnetic field, and to provide associated geomagnetic directionality data; and

a processor, wherein the processor processes the geomagnetic directionality data to compare the geomagnetic directionality data with predefined unsafe gait patterns related to a change in geomagnetic direction and outputs a command based at least in part on the geomagnetic directionality data matching one of the predefined unsafe gait patterns, wherein the command comprises at least one of an alert command or an instruction to control or restrict movement of the prosthetic or orthotic device,

wherein when the geomagnetic sensor provides geomagnetic directionality data indicative of a turn greater than 20 degrees while walking, the processor is configured to output a command comprising at least one of an alert command or an instruction to control or restrict movement of the prosthetic or orthotic device to provide a safer response to the turn.

2. The device of claim 1, wherein the sensor is a geomagnetic sensor configured to monitor the geomagnetic directionality of the prosthetic or orthotic device with respect to the earth'"'"'s magnetic field.

3. The device of claim 2, wherein the geomagnetic sensor comprises a flux gate magnetometer.

4. The device of claim 2, wherein the geomagnetic sensor is further coupled with at least one of an accelerometer or gyroscope.

5. The device of claim 1, wherein the device comprises a prosthetic knee device.

6. The device of claim 1, wherein the turn greater than 20 degrees is about the same spot.

7. The device of claim 1, wherein the command based at least in part on the geomagnetic directionality data matching one of the predefined unsafe gait patterns comprises an instruction to control or restrict movement of the prosthetic or orthotic device.

8. The device of claim 1, wherein the processor further generates an output of at least one of “

level ground,”

“

stairs,”

or “

slope.”

9. The device of claim 8, wherein when the processor generates an output of “

level ground,”

the processor then instructs the prosthetic or orthotic device to set parameters for level ground walking.

10. The device of claim 8, wherein when the processor generates an output of “

stairs,”

the processor then instructs the prosthetic or orthotic device to set parameters for stair case walking.

11. The device of claim 8, wherein when the processor generates an output of “

slope,”

the processor then instructs the prosthetic or orthotic device to set parameters for inclined or declined walking.

12. A motion-controlled prosthetic or orthotic device comprising:

a first upper member;

a second lower member moveable relative to the first upper member at a location generally corresponding to a location of a natural human joint location, wherein the first upper and second lower members are articulated about the joint location with respect to each other;

at least one sensor disposed on the motion-controlled prosthetic or orthotic device, wherein the at least one sensor is configured to monitor the geomagnetic directionality of the prosthetic or orthotic device, and to provide associated geomagnetic directionality data; and

a processor, wherein the processor processes the geomagnetic directionality data to compare the geomagnetic directionality data with predefined unsafe gait patterns related to a change in geomagnetic direction and outputs a command based at least in part on the geomagnetic directionality data matching one of the predefined unsafe gait patterns,

wherein the command comprises at least one of an alert command or an instruction to control or restrict movement of the prosthetic or orthotic device, wherein when the sensor provides geomagnetic directionality data indicative of a 180 degree turn while walking, the processor is configured to output a command comprising at least one of an alert command or an instruction to control or restrict movement of the prosthetic or orthotic device to provide a safer response to the turn.

13. The device of claim 12, wherein the 180 degree turn is about the same spot.

14. The device of claim 12, wherein the command based at least in part on the geomagnetic directionality data matching one of the predefined unsafe gait patterns comprises an instruction to control or restrict movement of the prosthetic or orthotic device.

15. The device of claim 12, wherein the processor further generates an output of “

stairs”

, and when the processor generates an output of “

stairs” and

the sensor provides geomagnetic directionality data indicative of a 180 degree turn, the processor notifies the prosthetic or orthotic device to resume level ground walking.