System and method for data communication with a mechatronic device

• US 8,801,802 B2
• Filed: 02/15/2006
• Issued: 08/12/2014
• Est. Priority Date: 02/16/2005
• Status: Active Grant

• Current Assignee: Ossur hf
• Original Assignee: Ossur hf
• Inventors: Clausen, Arinbjrn V., Oddsson, Magns
• Primary Examiner(s): Snow, Bruce E
• Assistant Examiner(s): HOBAN, MELISSA A
• Application Number:
  US11/355,058
• Publication Number:
  US 20060184252A1
• Time in Patent Office: 3,100 Days
• Field of Search: 623/24, 623/27, 623/40
• US Class Current: 623/27
• CPC Class Codes: A61F 2/50 Prostheses not implantable in the body closure means for urethra or rectum or for artificial body openings therefor A61F2/0004
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/70 electrical
• 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 2002/7685 located on natural or sound-site limbs, e.g. comparison measuring means

Abstract

Embodiments include a system for controlling motion of a human limb. The system may include a plurality of mechatronic devices, each of which may be in communication with at least one other of the plurality of mechatronic devices. Each of the mechatronic devices includes one or more of a processor, an actuator, or a sensor. One or more of the mechatronic devices may be configured to generate a control state for at least one other of the plurality of mechatronic devices based on the communicated data. In one embodiment, the communicated data is used to synchronize the mechatronic devices. In one embodiment, one or more of the mechatronic devices is configured to receive executable instructions for controlling an actuator via a communications interface.

Claims

1. A mechatronic system attachable to a human body, the system comprising:

a prosthetic joint;

at least one sensor configured to gather data regarding a motion parameter of the prosthetic joint;

an actuator configured to control movement of the prosthetic joint;

a memory storing a first set of instructions for controlling the actuator based on the sensor data;

a communication interface configured to communicate data with a data source external to the prosthetic joint, the communicated data comprising a second set of instructions for controlling the actuator based on the sensor data; and

a processor configured to execute the stored first set of instructions, execution of the first set of instructions causing the processor to determine a first actuator control command based on the sensor data that controls movement of the prosthetic joint according to a first activity, the processor further being configured to receive and execute the second set of instructions, execution of the second set of instructions causing the processor to determine a second actuator control command based on the sensor data that controls movement of the prosthetic joint according to a second activity, the first actuator control command being different than the second actuator control command, and the first activity being different than the second activity, wherein the memory is further configured to store the second set of instructions, wherein the stored second set of instructions replaces the stored first set of instructions in the memory.

2. The mechatronic system of claim 1, wherein the prosthetic joint is a lower limb prosthetic joint.

3. The mechatronic system of claim 1, wherein each of the first activity and the second activity is one of the following:

bicycling, jogging, hiking, swimming, throwing, jumping, or movement over a particular terrain.

4. The mechatronic system of claim 1, wherein the communicated data further comprises diagnostic information of the mechatronic system sent to the data source.

5. The mechatronic system of claim 1, wherein the communication interface is configured to transmit data to the data source and receive data from the data source.

6. The mechatronic system of claim 1, wherein the first set of instructions comprises a first state machine module.

7. The mechatronic system of claim 6, wherein the first state machine module comprises at least one of:

sub-routines, procedures, definitional statements, and macros.

8. The mechatronic system of claim 1, wherein the first set of instructions comprises code written in a computer language that has been compiled and is capable of being executed by the processor.

9. The mechatronic system of claim 1, wherein the data source comprises a computing device.

10. The mechatronic system of claim 9, wherein the computing device comprises a mobile telephone, a personal digital assistant or a mobile computer.

11. The mechatronic system of claim 1, wherein the communication interface is at least one of a wired network interface or a wireless network interface.

12. The mechatronic system of claim 11, wherein the communication interface is configured to communicate data using an internet protocol.

13. The mechatronic system of claim 1, wherein the data source stores the second set of instructions for controlling the actuator based on the sensor data.

14. The mechatronic system of claim 1, wherein the data source comprises a server.

15. The mechatronic system of claim 1, wherein the actuator is configured to dampen movement.

16. The mechatronic system of claim 1, wherein the actuator is configured to actively adjust an angle between a first limb member and a second limb member.

17. A mechatronic system comprising:

a prosthetic joint comprising;

at least one sensor configured to gather data regarding a motion parameter of the prosthetic joint;

an actuator configured to control movement of the prosthetic joint;

a memory storing a first set of instructions for controlling the actuator based on the sensor data;

a communication interface configured to communicate with a data source external to the prosthetic joint; and

a processor configured to execute the stored first set of instructions, execution of the first set of instructions causing the processor to determine a first actuator control command based on the sensor data that controls movement of the prosthetic joint according to a first activity; and

a data source external to the prosthetic joint containing a second set of instructions for controlling the actuator based on the sensor data, wherein the communication interface is configured to communicate with the data source to receive the second set of instructions;

wherein the memory is further configured to store the second set of instructions; and

wherein the processor is further configured to receive and execute the second set of instructions and replace the first set of instructions in the memory with the second set of instructions, execution of the second set of instructions causing the processor to determine a second actuator control command based on the sensor data that controls movement of the prosthetic joint according to a second activity, the first actuator control command being different than the second actuator control command, and the first activity being different than the second activity.

18. The mechatronic system of claim 17, wherein the prosthetic joint is a lower limb prosthetic joint.

19. The mechatronic system of claim 17, wherein the data source comprises a network computing device selected from the group consisting of a server computer, a personal computer, a mobile computer, a personal digital assistant and a mobile telephone.

20. The mechatronic system of claim 17, wherein the data source comprises another prosthetic device.

21. The mechatronic system of claim 17, wherein the data source comprises a first computing device that is configured to communicate with a second computing device over a network.