Control device and system for controlling an actuated prosthesis

Abstract

A device and system for controlling an actuated prosthesis. The device includes a data signal input for each of the main artificial proprioceptors. Also, means for obtaining a first and a second derivative signal for at least some of the data signals, and means for obtaining a third derivative signal for at least one of the data signals. A set of first state machines, and means for generating the phase of locomotion portion using the states of the main artificial proprioceptors, and a second state machine as also included. The system includes a plurality of main artificial proprioceptors as well as means for obtaining a first and a second derivative signal for at least some of the data signals, and means for obtaining a third derivative signal for at least one of the data signals. Also, a set of first state machines, a second state machine, means for storing a lookup table, means for determining actual coefficient values from the lookup table, means for calculating at least one dynamic parameter value of the actuated prosthesis using the lookup table and at least some of the data signals, and means for converting the dynamic parameter value into an output signal to control the actuated prosthesis.

1 .- 41 . (canceled) 
     
     
         42 . A motorized prosthetic device comprising:
 a joint member;   a limb member operatively coupled with the joint member;   a pressure sensor configured to indicate an interaction between the motorized prosthetic device and ground;   a kinematic sensor configured to measure torque at the joint member;   a controller configured to receive data from at least the pressure sensor and kinematic sensor and output a control signal based at least on the received data; and   an electrical motor configured to receive the control signal and operate an actuator in accordance with the received control signal.   
     
     
         43 . The motorized prosthetic device of  claim 42 , wherein operation of the actuator induces movement of the limb member. 
     
     
         44 . The motorized prosthetic device of  claim 42 , wherein the controller is further configured to calculate a trajectory of the motorized prosthetic device using at least the data from the kinematic sensor. 
     
     
         45 . The motorized prosthetic device of  claim 44 , wherein the controller is further configured to output the control signal based at least on the calculated trajectory of the motorized prosthetic device. 
     
     
         46 . The motorized prosthetic device of  claim 42 , wherein the joint member comprises a knee joint. 
     
     
         47 . The motorized prosthetic device of  claim 42 , wherein the limb member comprises a trans-tibial member. 
     
     
         48 . The motorized prosthetic device of  claim 42 , wherein the controller is further configured to determine a state of the pressure sensor using at least a first derivative of at least a portion of the data from the pressure sensor. 
     
     
         49 . The motorized prosthetic device of  claim 42 , wherein the controller is further configured to determine a phase of locomotion using at least a portion of the data from the pressure sensor. 
     
     
         50 . The motorized prosthetic device of  claim 42 , wherein the controller is further configured to determine a portion of locomotion using at least a portion of the data from the pressure sensor. 
     
     
         51 . A prosthetic controller configured to control a motorized prosthetic device, the controller comprising:
 a first data signal input configured to receive a pressure data signal indicative of an interaction between a motorized prosthetic device and ground;   a second data signal input configured to receive a kinematic data signal indicative of a torque at a joint of the prosthetic device; and   a processor configured to calculate a control signal based at least on the pressure data signal and the kinematic data signal and further configured to transmit the control signal to an electrical motor, wherein the electrical motor operates an actuator in accordance with the control signal.   
     
     
         52 . The prosthetic controller of  claim 51 , wherein operation of the actuator induces movement in a limb member of the motorized prosthetic device. 
     
     
         53 . The prosthetic controller of  claim 51 , wherein the processor is further configured to calculate a trajectory of the motorized prosthetic device using at least the data from the kinematic signal. 
     
     
         54 . The prosthetic controller of  claim 53 , wherein the processor is further configured to calculate the control signal based at least on the calculated trajectory of the motorized prosthetic device. 
     
     
         55 . The prosthetic controller of  claim 51 , wherein the joint is a knee joint. 
     
     
         56 . A method for controlling a motorized prosthetic device, the method comprising:
 receiving a pressure data signal indicative of an interaction between a prosthetic device and ground;   receiving a kinematic data signal indicative of a torque at a joint of the prosthetic device;   calculating, using one or more processors, a control signal based at least on a portion of the pressure data signal and at least a portion of the kinematic data signal;   transmitting the control signal to an electrical motor; and   operating an actuator in accordance with the calculated control signal.   
     
     
         57 . The method of  claim 56 , wherein operation of the actuator induces movement in the motorized prosthetic device 
     
     
         58 . The method of  claim 56 , further comprising calculating a trajectory of the motorized prosthetic device using at least the kinematic data signal. 
     
     
         59 . The method of  claim 58 , wherein the control signal is calculated based at least on the calculated trajectory of the motorized prosthetic device. 
     
     
         60 . The method of  claim 56 , further comprising determining a state of a pressure sensor associated with the pressure data signal using at least a first derivative of at least a portion of the pressure data signal. 
     
     
         61 . A prosthetic controller configured to control a motorized prosthetic device, the controller comprising:
 a first layer configured to calibrate a prosthetic device to a user; and   a second layer comprising at least one pressure sensor input and at least one kinematic sensor input and configured to determine a phase of locomotion using the at least one pressure sensor input and the at least one kinematic sensor input, and further configured to operate an actuator using an electrical motor based on the determined phase of locomotion.