Systems and methods for processing limb motion
First Claim
1. A method of controlling operation of an actuatable prosthetic device being moveable about a joint, the method comprising:
- receiving with a processor located on the actuatable prosthetic device a plurality of data points of a sensor signal over a period of time, wherein the plurality of data points are indicative of a motion of the prosthetic device;
processing with said processor the plurality of data points with a time series analysis that compares the plurality of data points received over the period of time to a plurality of sample signals so as to associate the plurality of data points with at least one sample signal of the plurality of sample signals, wherein the at least one sample signal comprises a plurality of data points within a time period that is approximately equal in length to the period of time in which the plurality of data points of the sensor signal are received;
determining with said processor a control signal based at least on the at least one sample signal associated with the time series of signals; and
controlling movement of the actuatable prosthetic device based on the control signal determined by said processor.
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Abstract
Control systems and methods are disclosed for processing a time series of signals associated with the movement of a device associated with a limb. The time series of motion signals is filtered, such as thorough an autoregressive filter, and compared to stored data sets representing a limb-motion event and/or phase. In certain examples, a plurality of accelerometers generate the time series of motion signals based at least on acceleration measurements in three orthogonal directions and/or planes. The acceleration measurements may relate to the movement of an artificial limb, such as a prosthetic or orthotic device. Upon determining an event and/or phase of limb motion, the control system may trigger an actuator to appropriately adjust one or more prosthetic or orthotic joints.
419 Citations
17 Claims
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1. A method of controlling operation of an actuatable prosthetic device being moveable about a joint, the method comprising:
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receiving with a processor located on the actuatable prosthetic device a plurality of data points of a sensor signal over a period of time, wherein the plurality of data points are indicative of a motion of the prosthetic device; processing with said processor the plurality of data points with a time series analysis that compares the plurality of data points received over the period of time to a plurality of sample signals so as to associate the plurality of data points with at least one sample signal of the plurality of sample signals, wherein the at least one sample signal comprises a plurality of data points within a time period that is approximately equal in length to the period of time in which the plurality of data points of the sensor signal are received; determining with said processor a control signal based at least on the at least one sample signal associated with the time series of signals; and controlling movement of the actuatable prosthetic device based on the control signal determined by said processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification