Control device and system for controlling an actuated prosthesis

• US 9,649,206 B2
• Filed: 07/17/2013
• Issued: 05/16/2017
• Est. Priority Date: 08/22/2002
• Status: Expired due to Term

• Current Assignee: Victhom Laboratory Inc (Ergoresearch Ltd.)
• Original Assignee: Victhom Laboratory Inc (Ergoresearch Ltd.)
• Inventors: Bdard, Stphane
• Primary Examiner(s): Willse, David H
• Application Number:
  US13/944,778
• Publication Number:
  US 20130297041A1
• Time in Patent Office: 1,399 Days
• Field of Search: None
• CPC Class Codes: A61F 2/644 of the single-bar or multi-bar linkage type
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/607 Lower legs
• CPC Class Codes: A61F 2002/6614 Feet
• 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 2002/762 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 2002/7645 for measuring torque, e.g. hinge or turning moment, moment of force
• CPC Class Codes: A61F 2002/7685 located on natural or sound-site limbs, e.g. comparison measuring means

Abstract

A motorized prosthetic device includes a joint member, a limb member, a pressure sensor, and a kinematic sensor. The pressure sensor indicates interaction between the motorized prosthetic device and the ground and the kinematic sensor measures torque at the joint member. A controller receives data from the pressure sensor and kinematic sensor and calculates a control signal based at least on the received data. An electrical motor receives the control signal and operates an actuator in accordance with the received control signal.

Claims

1. A method of controlling an actuated prosthesis of an amputee, the actuated prosthesis comprising an electric actuator, a first limb member, and a second limb member distally located from a stump-socket member with respect to the first limb member, the method comprising:

receiving information in real-time from a plurality of artificial proprioceptors located within or on a prosthetic foot about dynamics of the amputee'"'"'s movement, wherein the prosthetic foot replaces a missing foot of the amputee;

processing said information with a control system to determine a relative vertical direction of a locomotion activity, wherein the control system is located within or on the actuated prosthesis, wherein the first limb member replaces at least a portion of a first missing limb of the amputee and the second limb member replaces at least a portion of a second missing limb of the amputee, and wherein the first limb member and the second limb member are coupled together to form a pivot and are distally located from the stump-socket member with respect to a proximal connector configured to operatively attach the actuated prosthesis to the stump-socket member;

determining a required force and/or torque to be applied to the second limb member based at least in part on the determined relative vertical direction of the locomotion activity;

outputting a signal from the control system to a power drive based at least in part on the determined required force and/or torque; and

supplying electrical power to the electric actuator from an electric power supply distally located from the stump-socket member with respect to the proximal connector based at least in part on the signal received by the power drive, wherein the power drive controls the amount of electrical power provided to the electric actuator from the electric power supply,

wherein the electric actuator is distally located from the stump-socket member with respect to the proximal connector, is coupled to the first limb member and the second limb member posterior to the pivot, and affects force and/or torque between the first and second limb members during gait, and wherein there is only one powered actuator between the proximal connector and the second limb member.

2. The method of claim 1, further comprising processing said information with the control system to determine a progression within the locomotion activity of the amputee'"'"'s movement, wherein said processing comprises using a lookup table to determine the required force and/or torque to be applied by the electric actuator based at least in part on the determined progression within the locomotion activity.

3. The method of claim 1, further comprising processing said information with the control system to determine a walking speed of the amputee, wherein said processing comprises using a lookup table to determine the required force and/or torque to be applied by the electric actuator based at least in part on the determined the walking speed of the amputee.

4. The method of claim 1, wherein the relative vertical direction comprises at least one of an incline, a decline, upstairs, and downstairs.

5. The method of claim 1, wherein the actuated prosthesis is a leg prosthesis and wherein the electric actuator is operated to move one or more members of the leg prosthesis.

6. The method of claim 5, wherein the leg prosthesis comprises a knee member that is moved by the electric actuator relative to a trans-tibial member.

7. The method of claim 5, wherein the leg prosthesis comprises an ankle joint.

8. The method of claim 1, wherein the artificial proprioceptors comprise at least a plantar pressure sensor and a gyroscope.

9. A method of controlling an actuated prosthesis of an amputee, the actuated prosthesis comprising a linear actuator, a first limb member, and a second limb member distally located from a stump-socket member with respect to the first limb member, the method comprising:

receiving information in real-time from one or more artificial proprioceptors located within or on a prosthetic foot about dynamics of the amputee'"'"'s movement, wherein the prosthetic foot replaces a missing foot of the amputee;

processing said information with a control system to determine a walking speed of the amputee, wherein the control system is located within or on the actuated prosthesis, wherein the first limb member replaces at least a portion of a first missing limb of the amputee and the second limb member replaces at least a portion of a second missing limb of the amputee, and wherein the first limb member and the second limb member are coupled together to form a pivot and are distally located from the stump-socket member with respect to a proximal connector configured to operatively attach the actuated prosthesis to the stump-socket member;

determining joint trajectories and a force and/or torque to be applied by the linear actuator to the joint based at least in part on the determined walking speed of the amputee;

outputting a signal from the control system to a power drive based at least in part on the determined walking speed of the amputee; and

supplying electrical power to the linear actuator from an electric power supply distally located from the stump-socket member with respect to the proximal connector based at least in part on the signal received by the power drive, wherein the power drive controls the amount of electrical power provided to the linear actuator from the electric power supply,

wherein the linear actuator is distally located from the stump-socket member with respect to the proximal connector, is coupled to the first limb member and the second limb member posterior to the pivot, and affects force and/or torque between the first and second limb members during gait, and wherein there is only one powered actuator between the proximal connector and the second limb member.

10. The method of claim 9, wherein the walking speed is determined based on data received by plantar pressure sensors.

11. The method of claim 9, wherein the prosthesis comprises a knee member that is moved by the linear actuator relative to a trans-tibial member.

12. The method of claim 9, wherein said determining joint trajectories and the force and/or torque comprises using a lookup table to determine the force and/or torque based at least in part on the determined walking speed.

13. An actuated prosthetic device for an amputee, the device comprising:

a proximal connector configured to couple to a stump-socket member;

a first limb portion coupled to the proximal connector and distally located from the stump-socket member with respect to the proximal connector, the first limb portion configured to replace at least a portion of a first missing limb of an amputee;

a second limb portion coupled to the first limb portion to form a pivot, distally located from the stump-socket member with respect to the proximal connector, and distally located from the stump-socket member with respect to the first limb portion, the second limb portion configured to replace at least a portion of a second missing limb of the amputee;

an electric actuator coupled to the first limb portion and the second limb portion posterior to the pivot and distally located from the stump-socket member with respect to the proximal connector, the electric actuator configured to affect the force and/or torque between the first and second limb portions during gait, wherein there is only one powered actuator between the proximal connector and the second limb portion;

an electric power supply distally located from the stump-socket member with respect to the proximal connector, wherein the electric power supply is configured to supply electrical power to the electric actuator based at least in part on a signal received by a power drive, wherein the power drive is configured to control the amount of electrical power provided to the electric actuator from the electric power supply; and

a control system configured to;

receive information in real-time from a plurality of artificial proprioceptors located within or on a prosthetic foot about dynamics of the amputee'"'"'s movement, wherein the prosthetic foot replaces a missing foot of the amputee,

process said information to determine a relative vertical direction of a locomotion activity,

determine a force and/or torque to be applied to the second limb portion based at least in part on the determined relative vertical direction of the locomotion activity, and

output the signal to the power drive based at least in part on the determined force and/or torque.

14. The device of claim 13, wherein the control system is further configured to:

determine a progression within the locomotion activity of the amputee'"'"'s movement; and

utilize a lookup table to determine the force and/or torque to be applied by the electric actuator based at least in part on the determined progression within the locomotion activity.

15. The device of claim 13, further comprising an ankle joint.

16. The device of claim 13, wherein the artificial proprioceptors comprise at least a plantar pressure sensor and gyroscope.

17. An actuated prosthetic device for an amputee, the device comprising:

a proximal connector configured to couple to a stump-socket member;

a first limb portion coupled to the proximal connector and distally located from the stump-socket member with respect to the proximal connector, the first limb portion configured to replace at least a portion of a first missing limb of an amputee;

a second limb portion coupled to the first limb portion to form a pivot, distally located from the stump-socket member with respect to the proximal connector, and distally located from the stump-socket member with respect to the first limb portion, the second limb portion configured to replace at least a portion of a second missing limb of the amputee;

a linear actuator coupled to the first limb portion and the second limb portion posterior to the pivot and distally located from the stump-socket member with respect to the proximal connector, the linear actuator configured to affect the force and/or torque between the first and second limb portions during gait, wherein there is only one powered actuator between the proximal connector and the second limb portion;

an electric power supply distally located from the stump-socket member with respect to the proximal connector, wherein the electric power supply is configured to supply electrical power to the linear actuator based at least in part on a signal received by a power drive, wherein the power drive is configured to control the amount of electrical power provided to the linear actuator from the electric power supply; and

a control system configured to;

receive information in real-time from a plurality of artificial proprioceptors located within or on a prosthetic foot about dynamics of the amputee'"'"'s movement, wherein the prosthetic foot replaces a missing foot of the amputee,

process said information to determine a walking speed of the amputee,

determine joint trajectories and a force and/or torque to be applied by the linear actuator to the joint based at least in part on the determined walking speed of the amputee, and

output the signal to the power drive based at least in part on the determined walking speed of the amputee.

18. The device of claim 17, further comprising a knee member, wherein the linear actuator is configured to move the knee member relative to a trans-tibial member.

19. The device of claim 17, further comprising an ankle joint.

20. The device of claim 17, wherein the control system is further configured to determine the walking speed based on data received by plantar pressure sensors.