Systems and methods for processing limb motion

• US 9,078,774 B2
• Filed: 08/12/2010
• Issued: 07/14/2015
• Est. Priority Date: 12/22/2004
• Status: Active Grant

• Current Assignee: Ossur hf
• Original Assignee: Ossur hf
• Inventors: Jnsson, Helgi, Clausen, Arinbjrn Viggo, Ragnarsdttir, Heidrun G.
• Primary Examiner(s): SNOW, BRUCE EDWARD
• Application Number:
  US12/855,306
• Publication Number:
  US 20100324456A1
• Time in Patent Office: 1,797 Days
• Field of Search: 623/24, 623 47- 50
• US Class Current: 1/1
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/4851 Prosthesis assessment or monitoring
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2002/607 Lower legs
• CPC Class Codes: A61F 2002/6614 Feet
• CPC Class Codes: A61F 2002/6657 having a plate-like or strip-like spring element, e.g. an energy-storing cantilever spring keel
• 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 2002/763 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 2002/7665 for measuring temperatures
• CPC Class Codes: A61F 2002/7685 located on natural or sound-site limbs, e.g. comparison measuring means

Abstract

Control systems and methods are disclosed for processing a time series of signals associated with the movement of a device associated with a limb. The time series of motion signals is filtered, such as thorough an autoregressive filter, and compared to stored data sets representing a limb-motion event and/or phase. In certain examples, a plurality of accelerometers generate the time series of motion signals based at least on acceleration measurements in three orthogonal directions and/or planes. The acceleration measurements may relate to the movement of an artificial limb, such as a prosthetic or orthotic device. Upon determining an event and/or phase of limb motion, the control system may trigger an actuator to appropriately adjust one or more prosthetic or orthotic joints.

Claims

1. A method of controlling operation of an actuatable prosthetic device being moveable about a joint, the method comprising:

receiving with a processor located on the actuatable prosthetic device a plurality of data points of a sensor signal over a period of time, wherein the plurality of data points are indicative of a motion of the prosthetic device;

processing with said processor the plurality of data points with a time series analysis that compares the plurality of data points received over the period of time to a plurality of sample signals so as to associate the plurality of data points with at least one sample signal of the plurality of sample signals, wherein the at least one sample signal comprises a plurality of data points within a time period that is approximately equal in length to the period of time in which the plurality of data points of the sensor signal are received;

determining with said processor a control signal based at least on the at least one sample signal associated with the time series of signals; and

controlling movement of the actuatable prosthetic device based on the control signal determined by said processor.

2. The method of claim 1, wherein said processing includes filtering the plurality of data points with a predictive filter.

3. The method of claim 1, wherein said processing includes filtering the plurality of data points with an autoregressive filter.

4. The method of claim 3, wherein said processing includes filtering the plurality of data points with a Kalman filter.

5. The method of claim 1, wherein said processing with said processor further comprises identifying at least one limb-motion event.

6. The method of claim 5, wherein the at least one limb-motion event comprises at least one of toe down, heel off, midswing, end of swing, toe-off, and heel-strike events.

7. The method of claim 1, wherein the actuatable prosthetic device comprises an actively-adjustable prosthetic ankle device.

8. The method of claim 7, wherein the sensor signal comprises an accelerometer sensor signal from an accelerometer, wherein the accelerometer is attached to the actively-adjustable prosthetic ankle device.

9. The method of claim 1, wherein the plurality of data points are spaced apart at uniform or substantially uniform time intervals.

10. The method of claim 7, wherein the actuatable prosthetic device comprises a prosthetic ankle comprising a foot unit, a lower limb member and an actuator configured to actively control an angle between the foot unit and lower limb member, and controlling movement of the actuatable prosthetic device comprises controlling the actuator.

11. The method of claim 1, further comprising using one or more accelerometers to produce the plurality of data points.

12. The method of claim 1, further comprising using a sensor module that outputs to the processor sensor signals at 100 Hz or more.

13. The method of claim 1, wherein associating the plurality of data points with the at least one sample signal determines one of at least walking on level ground, walking up stairs, walking down stairs, walking up an incline, and walking down a decline.

14. The method of claim 1, wherein controlling movement of the actuatable prosthetic device based on a control signal received from said processor comprises suspending or decreasing power.

15. The method of claim 1, wherein the processor includes a memory that stores the plurality of sample signals.

16. The method of claim 1, wherein the sensor signal comprises a myoelectric sensor signal from a myoelectric sensor configured to capture data from a natural limb.

17. The method of claim 16, wherein the receiving the plurality of data points of the sensor signal over the period of time comprises receiving the plurality of data points of the sensor signal over the period of time from the myoelectric sensor via at least one of a wired and wireless transmission.