Apparatus for control of a prosthetic

• US 8,821,587 B2
• Filed: 02/06/2008
• Issued: 09/02/2014
• Est. Priority Date: 02/06/2007
• Status: Active Grant

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Lanier, Gregory R., Perry, N. Christopher, Pascoe, Andrew P., Van der Merwe, Dirk A.
• Primary Examiner(s): Hoffman, Marcia
• Application Number:
  US12/027,116
• Publication Number:
  US 20080243265A1
• Time in Patent Office: 2,400 Days
• Field of Search: 623 24- 25, 623/30, 623 57- 65
• US Class Current: 623/24
• 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 bioelectrical control A61F2/72
• 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 2002/707 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, straps for connecting prosthetic parts A61F2002/30462

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 inertial sensor adapted to be worn by a user, the at least one inertial 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 for moving the prosthetic device into a desired position and a finesse control mode for manipulating a prosthetic hand of the prosthetic device once the prosthetic device is in the desired position;

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

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

wherein the at least one inertial sensor detects at least one of x, y or z plane positioning.

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

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

4. 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.

5. The prosthetic device control apparatus according to claim 1 wherein the at least one inertial sensor is an acceleration gyro.

6. The prosthetic device control apparatus according to claim 1 wherein the at least one inertial sensor is an accelerometer.

7. The prosthetic device control apparatus according to claim 1 wherein the at least one inertial sensor wirelessly communicates information to said control module.

8. A prosthetic device control apparatus comprising:

a sensor adapted to be worn by a user, the sensor detecting body movement in at least two degrees of freedom; and

an electronic controller that is operably connected to the sensor and receiving at least one signal based on the detected body movement therefrom, the electronic controller 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 for moving the prosthetic device into a desired position and a finesse control mode for manipulating a prosthetic hand of the prosthetic device once the prosthetic device is in the desired position, the electronic controller controlling movement of the prosthetic device in at least two degrees of freedom based on the at least one signal and based on a selected control mode of the plurality of user selectable control modes, the movement of the prosthetic device being proportionate to the body movement detected by the sensor;

wherein the control provided by the electronic controller based upon a given signal received from the sensor changes between commanding a first plurality of actuators to control shoulder movement, elbow movement and humeral rotation of the prosthetic device based on the detected body movement indicated by the given signal received from the sensor to achieve bulk movement of the prosthetic device when the bulk control mode has been selected, thereby moving the prosthetic device to the desired position through a combination of shoulder movement, elbow movement and humeral rotation of the prosthetic device, and commanding a second plurality of actuators that is different than the first plurality of actuators to control wrist movement and hand movement of the prosthetic device based on a signal from the same sensor used to control the first plurality of actuators to achieve finesse movement of the prosthetic device when the finesse control mode has been selected, thereby manipulating the prosthetic hand through a combination of wrist movement and hand movement of the prosthetic device, upon a mode change between the bulk control mode and the finesse control mode of the plurality of user selectable control modes.

9. The prosthetic device control apparatus according to claim 8, wherein the electronic controller is in wireless communication with the sensor.

10. The prosthetic device control apparatus according to claim 8, wherein the electronic controller is in wireless communication with the prosthetic device.

11. The prosthetic device control apparatus according to claim 8, wherein the sensor is an inertial sensor.

12. The prosthetic device control apparatus according to claim 11, wherein the sensor detects at least one of x, y or z plane positioning.

13. The prosthetic device control apparatus according to claim 11, wherein the sensor is an acceleration gyro.

14. The prosthetic device control apparatus according to claim 11, wherein the sensor is an accelerometer.

15. The prosthetic device control apparatus according to claim 11, wherein the sensor wirelessly communicates information to said electronic controller.