Electromyography with prosthetic or orthotic devices

• US 9,883,815 B2
• Filed: 04/18/2016
• Issued: 02/06/2018
• Est. Priority Date: 04/20/2015
• Status: Active Grant

• Current Assignee: Ossur Iceland ehf
• Original Assignee: Ossur Iceland ehf
• Inventors: Einarsson, rni, Sigurprsson, Stefn Pll, Sverrisson, Atli rn
• Primary Examiner(s): Willse, David H
• Application Number:
  US15/132,015
• Publication Number:
  US 20160302686A1
• Time in Patent Office: 659 Days
• Field of Search: None
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/66 Feet; Ankle joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• 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 2002/7625 for measuring angular position
• 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 2005/0155 with actuating means
• CPC Class Codes: A61H 1/0262 Walking movement; Appliances for aiding disabled persons to walk A61H3/00 takes precedence
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure

Abstract

Systems, devices and methods for control of a prosthetic or orthotic device (POD) based on electromyography (EMG) signals are described. The POD may be a lower or upper limb POD having one or more joints. One or more EMG sensors may detect the EMG signals. The EMG sensors may be external, subcutaneous, intraperitoneal, epimysial, intramuscular, or other types. Control of the POD may be based on EMG and non-EMG signals, such as velocity, acceleration, position, force, etc. Voluntary and/or automatic control may be implemented, for example with voluntary muscle contractions and/or data based on velocity, acceleration, position, force, etc. In some embodiments, the neutral position of an ankle POD is adjusted based on EMG signals.

Claims

1. A system for controlling a prosthetic or orthotic device (POD), the system comprising:

a first limb member;

a second limb member coupled to the first member, the first limb member and the second limb member forming a joint having a neutral position that is used throughout a gait cycle to adjust a joint angle between the first limb member and the second limb member;

at least one first sensor configured to measure electromyography (EMG) signals from a first muscle over a period of time;

a controller configured to receive a first EMG signal from the at least one first sensor and to determine an adjusted neutral position based at least in part on the first EMG signal; and

at least one actuator communicatively coupled to the controller, the at least one actuator configured to actuate the first limb member with respect to the second limb member such that the adjusted neutral position is used throughout the gait cycle to adjust the joint angle between the first limb member and the second limb member.

2. The system of claim 1, further comprising at least one second sensor configured to measure EMG signals from a second muscle over the period of time, wherein the controller is further configured to receive a second EMG signal from the at least one second sensor and to determine an adjusted neutral position based at least in part on the first EMG signal and the second EMG signal.

3. The system of claim 2, wherein the first muscle is antagonistic to the second muscle.

4. The system of claim 1, wherein the at least one first sensor is an external sensor, a subcutaneous sensor, an intraperitoneal sensor, an epimysial sensor, or an intramuscular sensor.

5. The system of claim 2, wherein the at least one first sensor is an external sensor, a subcutaneous sensor, an intraperitoneal sensor, an epimysial sensor, or an intramuscular sensor, and wherein the at least one second sensor is an external sensor, a subcutaneous sensor, an intraperitoneal sensor, an epimysial sensor, or an intramuscular sensor.

6. The system of claim 1, wherein the joint is an ankle joint and the joint angle is an ankle angle.

7. The system of claim 1, wherein the controller is configured to determine the adjusted neutral position in response to determining that the first EMG signal was produced by one or more voluntary contractions of the first muscle.

8. The system of claim 7, wherein the joint is an ankle joint, and wherein the controller is configured to determine a plantar-flexion movement or a powered plantar-flexion movement of the ankle joint based at least in part on the first EMG signal.

9. The system of claim 8, wherein the controller is configured to determine a first state has been entered based at least in part on the first EMG signal, and wherein the controller is configured to automatically effect the plantar-flexion movement or the powered plantar-flexion movement of the ankle joint after entering the first state.

10. The system of claim 9, wherein the first state is running or stair descent.

11. The system of claim 1, wherein the controller is configured to determine the adjusted neutral position based on comparison of the first EMG signal with one or more thresholds.

12. The system of claim 11, wherein the one or more thresholds is one or more of amplitude, frequency, envelope, or rate of change.

13. The system of claim 1, wherein the controller is configured to determine the adjusted neutral position based on comparison of the first EMG signal with previous EMG signals from previous steps.

14. The system of claim 1, wherein the controller is configured to determine the adjusted neutral position based on a time series analysis of the first EMG signal.

15. The system of claim 2, wherein the controller is configured to determine a target position based on the adjusted neutral angle according to the following equation, wherein the first muscle is MuscleX and the second muscle is MuscleY:

Postarget=Posneutral=Poscurrent+(MuscleXsignal*MuscleXgain+MuscleXoffset−

MuscleYsignal*MuscleYgain+MuscleYoffset).

16. A system for controlling a prosthetic or orthotic device (POD), the system comprising:

a first limb member;

a second limb member coupled to the first member, the first limb member and the second limb member forming a joint having a neutral position that is used throughout a gait cycle to adjust a joint angle between the first limb member and the second limb member;

at least one sensor configured to measure electromyography (EMG) signals associated with a muscle over a period of time;

a controller configured to receive the EMG signal and to determine an adjusted neutral position based at least in part on at least the EMG signal and to select a control mode for POD motion from a plurality of control modes based at least in part on at least the EMG signal; and

at least one actuator communicatively coupled to the controller, the at least one actuator configured to actuate the POD based at least in part on the control mode for POD motion and to actuate the first limb member with respect to the second limb member such that the adjusted neutral position is used throughout the gait cycle to adjust the joint angle between the first limb member and the second limb member.

17. The system of claim 16, wherein the control mode for POD motion is at least one of activation, stair ascent, stair descent, ramp ascent, ramp descent, golfing, biking, Nordic walking, walking, jogging, running or kicking.

18. The system of claim 16, wherein the joint is an ankle joint.

19. The system of claim 16, wherein the EMG signals are associated with voluntary contraction of the muscle.

20. The system of claim 19, wherein the joint is an ankle joint, and wherein the controller is configured to determine a plantar-flexion movement or a powered plantar-flexion movement of the ankle joint based at least in part on the first EMG signal.

21. The system of claim 20, wherein the controller is configured to automatically effect the plantar-flexion movement or the powered plantar-flexion movement of the ankle joint while in the first mode.

22. The system of claim 16, wherein the controller is configured to determine the adjusted neutral position in response to determining that the first EMG signal was produced by one or more voluntary contractions of the first muscle.

23. A system for controlling a prosthetic or orthotic device (POD) including a first limb member and a second limb member forming an ankle joint having a neutral position that is used throughout a gait cycle to adjust an ankle joint angle, the system comprising:

at least one first sensor configured to be implanted in a muscle and to measure myoelectric signals from the muscle over a period of time and to transmit an electromyography (EMG) signal generated at least in part from the measured myoelectric signals from the muscle;

at least one second sensor configured to measure at least one of acceleration, angle, force, and velocity over the period of time and to transmit an information signal generated at least in part from the at least one of acceleration, angle, force, and velocity;

a controller configured to;

receive the EMG signal and the information signal,

based at least in part on a determination that the EMG signal does not satisfy an EMG signal threshold, generate a control signal according to a first control scheme, wherein the first control scheme is based at least in part on the information signal,

based at least in part on a determination that the EMG signal satisfies the EMG threshold, generate the control signal according to a second control scheme, wherein the second control scheme is based at least in part on the information signal and the EMG signal, and

determine an adjusted neutral position of the ankle joint based at least in part on the EMG signal; and

at least one actuator coupled to the controller, the at least one actuator configured to actuate the POD based at least in part on the control signal and on the adjusted neutral angle.

24. The system of claim 23, wherein the controller is further configured to determine the control signal based on either the EMG signal or the information signal, wherein the controller chooses between the EMG signal and the information signal based at least in part on the relative amplitudes of the EMG signal and the information signal.

25. The system of claim 23, wherein the controller is further configured to determine the control signal based on either the EMG signal or the information signal, wherein the controller chooses between the EMG signal and the information signal based at least in part on the relative frequency of the EMG signal and the information signal.

26. The system of claim 23, wherein the controller generated control signal comprises information derived from the EMG signal and the information signal.