Apparatus for control of a prosthetic

• US 9,901,465 B2
• Filed: 08/29/2014
• Issued: 02/27/2018
• Est. Priority Date: 02/06/2007
• Status: Active Grant

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Lanier, Jr., Gregory R., Perry, N. Christopher, Pascoe, Andrew P., van der Merwe, Dirk A.
• Primary Examiner(s): WATKINS, MARCIA LYNN
• Application Number:
  US14/472,858
• Publication Number:
  US 20150012110A1
• Time in Patent Office: 1,278 Days
• CPC Class Codes: A61B 5/1036 Measuring load distribution, e.g. podologic studies
• CPC Class Codes: A61B 5/389 Electromyography [EMG]
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61F 2/54 Artificial arms or hands or parts thereof
• CPC Class Codes: A61F 2/583 Hands; Wrist joints
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2/741 using powered actuators, e.g. stepper motors or solenoids
• CPC Class Codes: A61F 2/78 Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
• CPC Class Codes: A61F 2002/6827 Feedback system for providing user sensation, e.g. by force, contact or position
• CPC Class Codes: A61F 2002/6872 attached and mechanically operated by remaining muscle
• 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 2002/7685 located on natural or sound-site limbs, e.g. comparison measuring means
• CPC Class Codes: A61F 2002/7862 : Harnesses or straps

Abstract

A prosthetic device control apparatus includes at least one sensor worn by a user. The sensor(s) determines a user'"'"'s movement. A control module is in communication with the sensor(s). The control module communicates movement information to a prosthetic. A method for controlling a prosthetic device includes sensing a user'"'"'s movement, communicating the movement through a control module to a prosthetic device; and controlling the movement of a prosthetic device.

Claims

1. A prosthetic device control apparatus comprising:

at least one sensor adapted to be worn by a user, the at least one sensor detecting body movements that are indicative of a desired movement of a prosthetic device; and

a control module in communication with the at least one sensor and receiving at least one signal based on the detected body movements therefrom, the control module having a plurality of user selectable control modes, each user selectable control mode defining a different motion for the prosthetic device, the plurality of user selectable control modes including at least a bulk control mode and a finesse control mode;

wherein the control module simultaneously commands a first plurality of prosthetic actuators to control movement of the prosthetic device based on the detected body movements indicated by the at least one signal from the at least one sensor to achieve bulk movement of the prosthetic device when the bulk control mode has been selected, thereby moving the prosthetic device into a desired position of the prosthetic device through the desired movement of the prosthetic device; and

wherein the control module simultaneously commands a second plurality of prosthetic actuators having actuators that are different than actuators of the first plurality of prosthetic actuators to control hand movement of a prosthetic hand of the prosthetic device based on a signal from the same at least one sensor used to control the first plurality of prosthetic actuators to achieve finesse movement of the prosthetic device when the finesse control mode has been selected, thereby manipulating the prosthetic hand through hand movement of the prosthetic device.

2. The prosthetic device control apparatus according to claim 1, wherein the at least one sensor is disposed in footwear.

3. The prosthetic device control apparatus according to claim 1, wherein the at least one sensor is disposed on a bottom surface of a sole of footwear.

4. The prosthetic device control apparatus according to claim 1, wherein the control module is disposed in footwear.

5. The prosthetic device control apparatus according to claim 1, wherein the control module is in wireless communication with the at least one sensor.

6. The prosthetic device control apparatus according to claim 1, wherein the control module is in wireless communication with the prosthetic device.

7. The prosthetic device control apparatus according to claim 1, wherein the control module controls movement of the prosthetic device to be substantially proportional to the body movement detected by the at least one sensor.

8. The prosthetic device control apparatus according to claim 1, wherein the first plurality of actuators controls a shoulder movement, elbow movement and humeral rotation of the prosthetic device.

9. A prosthetic device control apparatus comprising:

at least one sensor adapted to be worn by a user, the at least one sensor detecting body movements that are indicative of a desired movement of a prosthetic device; and

a control module in communication with the at least one sensor and receiving at least one signal based on the detected body movements therefrom, the control module having a plurality of user selectable control modes, each user selectable control mode defining a different motion for the prosthetic device, the plurality of user selectable control modes including at least a hold mode, a bulk control mode and a finesse control mode;

wherein the control module is adapted to simultaneously command a first plurality of prosthetic actuators to control movement of the prosthetic device based on the detected body movements indicated by the at least one signal from the at least one sensor to achieve bulk movement of the prosthetic device when the bulk control mode has been selected;

wherein the control module is adapted to simultaneously command a second plurality of prosthetic actuators having actuators that are different than actuators of the first plurality of prosthetic actuators to control finesse movement of the prosthetic device based on a signal from the same at least one sensor used to control the first plurality of prosthetic actuators when the finesse control mode has been selected; and

wherein the control module is adapted to simultaneously command at least one of the first plurality of actuators and second plurality of actuators to maintain a current position of the prosthetic device when the hold mode has been selected.

10. The prosthetic device control apparatus according to claim 9, wherein the first plurality of actuators controls a shoulder movement, elbow movement and humeral rotation of the prosthetic device.

11. The prosthetic device control apparatus according to claim 9, wherein the second plurality of actuators controls a wrist movement and a hand movement of the prosthetic device.

12. The prosthetic device control apparatus according to claim 9, wherein the actuators of the first plurality of actuators move the prosthetic device into a desired position through the desired movement of the prosthetic device when bulk control mode has been selected;

and

wherein the actuators of the second plurality of actuators move a prosthetic hand of the prosthetic device once the prosthetic device is in the desired position when finesse control mode has been selected.

13. The prosthetic device control apparatus according to claim 12, wherein the control module moves the prosthetic device into the desired position when bulk control mode has been selected through a combination of shoulder movement, elbow movement and humeral rotation of the prosthetic device.

14. The prosthetic device control apparatus according to claim 9, wherein the control module is in wireless communication with the at least one sensor.

15. The prosthetic device control apparatus according to claim 9, wherein the control module is in wireless communication with the prosthetic device.

16. The prosthetic device control apparatus according to claim 9, wherein the control module further comprises a home control mode in which the control module does not command any actuators of the prosthetic device in response to detected body movements indicated by the at least one signal from the at least one sensor.