Feedback control systems and methods for prosthetic or orthotic devices

• US 9,387,096 B2
• Filed: 06/16/2010
• Issued: 07/12/2016
• Est. Priority Date: 06/17/2009
• Status: Active Grant

• Current Assignee: Ossur hf
• Original Assignee: Ossur hf
• Inventors: Sverrisson, Ragnar, Clausen, Arinbjrn V.
• Primary Examiner(s): Snow, Bruce E
• Assistant Examiner(s): Hoban, Melissa
• Application Number:
  US12/816,968
• Publication Number:
  US 20100324698A1
• Time in Patent Office: 2,218 Days
• Field of Search: 623/24
• US Class Current: 1/1
• CPC Class Codes: A61B 5/1038 Measuring plantar pressure during gait
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61F 2/58 Elbows; Wrists ; Other joints; Hands
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/64 Knee joints
• 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 2002/7615 Measuring means for implanting artificial joints A61F2/4657

Abstract

Methods and systems are used for monitoring a global position or location of a prosthetic or orthotic device and to provide feedback control of the device. Certain methods may employ remote transmitting devices and receivers to recognize when a prosthetic or orthotic device user is in a moving vehicle and, therefore, initiate automatic shut-off, driving mode, or relaxed mode. Other methods may employ remote transmitting devices and receivers to identify the global position of the prosthetic or orthotic device, compare the global position to a stored terrain mapped database and output feedback control instructions and/or alerts to the prosthetic or orthotic device based at least in part on the stored terrain mapping information.

Claims

1. A method for automatically adjusting a prosthetic or orthotic device, the method comprising:

detecting a stationary position of a user of a prosthetic or orthotic device attached to the user;

identifying with circuitry operatively coupled to the prosthetic or orthotic device a first geographic location identifying at least one of a longitude or latitude of the prosthetic or orthotic device based on information received at a first time from a transmitting source located remotely to the prosthetic or orthotic device;

identifying with the circuitry a second geographic location identifying at least one of a longitude or latitude of the prosthetic or orthotic device based on information received at a second time from the transmitting source;

calculating with circuitry a velocity of the prosthetic or orthotic device based on a distance between the first and second geographic locations over a duration of time between the first time and the second time while the user is in the stationary position;

comparing with circuitry the calculated velocity to a threshold velocity; and

when the calculated velocity of the prosthetic or orthotic device exceeds the threshold velocity while the user is in the stationary position, automatically adjusting with circuitry a state of operation of the prosthetic or orthotic device.

2. The method of claim 1, wherein the stationary position is a seated position.

3. The method of claim 2, wherein the threshold velocity is greater than 5 miles per hour.

4. The method of claim 3, wherein the threshold velocity is greater than 20 miles per hour.

5. The method of claim 1, wherein automatically adjusting a state of operation of the prosthetic or orthotic device comprises initiating at least one of an automatic shut-off, a driving mode, or a relaxed mode of the prosthetic or orthotic device.

6. The method of claim 5, wherein initiating the driving mode comprises automatically restricting movement by a knee joint of the prosthetic or orthotic device.

7. The method of claim 5, wherein initiating the relaxed mode comprises automatically restricting movement of both a knee joint and an ankle joint of the prosthetic or orthotic device.

8. The method of claim 1, wherein said identifying the first and second geographic locations with the circuitry comprises detecting the first and second geographic locations with at least one global positioning system (GPS) sensor.

9. The method of claim 1, wherein identifying the first geographic location comprises identifying an elevation of the prosthetic or orthotic device.

10. A method for actively adjusting a lower limb prosthetic or orthotic device, the method comprising:

determining a global location of the prosthetic or orthotic device user based on data wirelessly received from a transmitter remotely located to the prosthetic or orthotic device;

comparing the determined global location to environmental data related to the determined global location that was previously stored in a memory prior to the device reaching said determined global location, wherein said environmental data is indicative of environmental variables corresponding to a plurality of known global locations and comprises population density information; and

actively adjusting with at least one actuator movement of the prosthetic or orthotic device based at least in part on said comparison.

11. The method of claim 10, wherein the environmental data further comprises terrain information.

12. The method of claim 11, wherein the terrain information comprises stable and unstable terrain mapping information.

13. The method of claim 10, wherein said determining comprises wirelessly receiving the data via at least one sensor operatively coupled to the prosthetic or orthotic device.

14. The method of claim 13, wherein the at least one sensor comprises a global positioning system (GPS) receiver.

15. The method of claim 13, wherein the at least one sensor comprises a radio frequency (RF) sensor.