System for control of a prosthetic device

• US 9,826,933 B2
• Filed: 10/20/2014
• Issued: 11/28/2017
• Est. Priority Date: 02/06/2007
• Status: Active Grant

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: van der Merwe, Dirk A., Lanier, Gregory R., Kerwin, John M., Guay, Gerald M., Perry, N. Christopher, Dastous, Susan D.
• Primary Examiner(s): Woznicki, Jacqueline
• Application Number:
  US14/518,604
• Publication Number:
  US 20150039098A1
• Time in Patent Office: 1,135 Days
• 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
• 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.

Claims

1. A control system for a prosthetic device comprising:

at least one sensor module comprising at least one inertial measurement unit adapted to detect user input and to generate at least one body input signal based on the detected user input, the at least one inertial measurement unit comprising at least one accelerometer;

at least one device module including a central processing unit and having at least one prosthetic control mode, the at least one device module being in communication with the at least one sensor module; and

at least one actuator of the prosthetic device configured to receive commands from the at least one device module,

wherein the at least one device module receives the at least one body input signal from the at least one sensor module and commands the at least one actuator in accordance with the at least one body input signal,

wherein the at least one sensor module sends body input signals to the at least one device module according to the accelerations detected by the at least one accelerometer and the at least one device module detects user walking based at least on the body input signals, and

wherein the at least one device module stops sending commands to the at least one actuator of the prosthetic device when user walking is detected.

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

3. The control system according to claim 1 further comprising wherein the inertial measurement unit comprises at least one accelerometer that is configured to detect accelerations in three perpendicular axes.

4. The control system according to claim 1 further comprising wherein the inertial measurement unit includes at least three accelerometers, each accelerometer adapted to detect acceleration in a single axis, the at least three accelerometers oriented with respect to one another to detect accelerations in three perpendicular axes.

5. The control system according to claim 1 further comprising wherein the at least one prosthetic control mode includes a bulk mode controlling movement of an end point of the prosthetic device within a movement envelope.

6. The control system according to claim 5 further comprising wherein the at least one device module commands movement of the end point of the prosthetic device within the movement envelope in accordance with the at least one body input signal, the at least one body input signal being indicative of a desired directional movement of the end point of the prosthetic device.

7. The control system according to claim 6 further comprising wherein the at least one device module commands movement of the end point of the prosthetic device along a boundary of the movement envelope when the desired directional movement of the end point of the prosthetic device required by the at least one body input signal would require movement of the end point of the prosthetic device outside of the movement envelope, the movement along the boundary of the movement envelope 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.

8. 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 of the prosthetic device.

9. The control system according to claim 8 further comprising wherein the finesse mode additionally controls movement of a prosthetic wrist of the prosthetic device.

10. The control system according to claim 8 further comprising wherein the finesse mode includes a plurality of grips controlling movement of the prosthetic hand.

11. A control system for a prosthetic device comprising:

at least one sensor module comprising at least one inertial measurement unit adapted to detect user input and to generate at least one body motion input signal based on the detected user input, the at least one inertial measurement unit comprising at least one accelerometer, the at least one sensor module being zeroed at a first orientation;

at least one device module including a central processing unit and having at least one control mode, the at least one device module being in communication with the at least one sensor module; and

at least one actuator of the prosthetic device configured to receive commands from the at least one device module,

wherein the at least one device module receives the at least one body motion input signal from the at least one sensor module and determines a change in orientation based on the at least one body motion input signal, and wherein the at least one device module commands the at least one actuator in accordance with the determined change in orientation,

wherein the at least one sensor module sends body input signals to the at least one device module according to the accelerations detected by the at least one accelerometer and the at least one device module detects user walking based at least on the body input signals, and

wherein the at least one device module stops sending commands to the at least one actuator of the prosthetic device when user walking is detected.

12. The control system according to claim 11 further comprising wherein the at least one device module determines the change in orientation between the first orientation and a second orientation and wherein the at least one device module commands the at least one actuator to actuate in accordance with the determined change in orientation.

13. The control system according to claim 11 further comprising wherein the at least one device module determines a rate of change in orientation between the first orientation and a second orientation and wherein the at least one device module commands the at least one actuator to actuate in accordance with the determined rate of hange in orientation.