Controlling powered human augmentation devices

Abstract

In a communication system for controlling a powered human augmentation device, a parameter of the powered device is adjusted within a gait cycle by wirelessly transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter. The target range is selected and the device parameters are controlled such that the powered device can normalize or augment human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain and, in effect, provides at least a biomimetic response to the wearer of the powered device.

1 . A method of controlling a powered human augmentation device, the method comprising:
 adjusting a parameter of the powered device within a gait cycle by wirelessly transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter, providing at least a biomimetic response to a wearer of the powered device.   
     
     
         2 . The method of  claim 1 , wherein the parameter is selected from the group consisting of net work, toe-off angle, peak power applied by the powered device, and timing of the peak power relative to the gait cycle. 
     
     
         3 . The method of  claim 1 , wherein the target range corresponding to the parameter is a function of at least one of ambulation speed and ambulation pattern. 
     
     
         4 . The method of  claim 1 , wherein the adjusting step is based at least in part on at least one of ambulation speed and ambulation pattern. 
     
     
         5 . The method of  claim 1 , wherein the adjusting step is based at least in part on at least one of terrain and activity. 
     
     
         6 . The method of  claim 5 , wherein the activity is selected from the group consisting of walking on level ground, walking on uneven ground, walking upslope, walking downslope, ascending stairs, and descending stairs. 
     
     
         7 . The method of  claim 1 , wherein the adjusting step is related to at least one of weight of the wearer, early-stance stiffness, power applied by the powered device, timing of application of power, hard-stop sensitivity, and a speed threshold for low-power mode of the powered device. 
     
     
         8 . The method of  claim 7 , wherein the adjusted parameter comprises a gain in a positive force-feedback, whereby the power applied by the powered device is adjusted. 
     
     
         9 . The method of  claim 7 , wherein the adjusted parameter comprises an exponent in a positive force-feedback, whereby the timing of the application of power is adjusted. 
     
     
         10 . The method of  claim 1  further comprising the step of receiving a data signal from the powered device, whereby adjusting the parameter is based at least in part on the received data signal. 
     
     
         11 . The method of  claim 10 , wherein the received data signal is related to at least one of rate of plantarflexion, heel rise, and ambulation-step length. 
     
     
         12 . The method of  claim 1 , wherein the control signal is transmitted during at least one of a training mode and a use mode. 
     
     
         13 . The method of  claim 1  further comprising the step of storing the transmitted control signal for subsequent retransmission thereof. 
     
     
         14 . A communication system for interfacing with a powered human augmentation device, the system comprising:
 a wireless transmitter for adjusting a parameter of the powered device within a gait cycle by transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter, providing at least a biomimetic response to a wearer of the powered device.   
     
     
         15 . The system of  claim 14 , wherein the parameter is selected from the group consisting of net work, toe-off angle, peak power applied by the powered device, and timing of the peak power relative to the gait cycle. 
     
     
         16 . The system of  claim 14 , wherein the target range corresponding to the parameter is a function of at least one of ambulation speed and ambulation pattern. 
     
     
         17 . The system of  claim 14 , wherein adjusting the parameter is based at least in part on at least one of ambulation speed and ambulation pattern. 
     
     
         18 . The system of  claim 14 , wherein adjusting the parameter is based at least in part on at least one of terrain and activity. 
     
     
         19 . The system of  claim 18 , wherein the activity is selected from the group consisting of walking on level ground, walking on uneven ground, walking upslope, walking downslope, ascending stairs, and descending stairs. 
     
     
         20 . The system of  claim 14 , wherein adjusting the parameter is related to at least one of weight of the wearer, early-stance stiffness, power applied by the powered device, timing of application of power, hard-stop sensitivity, and a speed threshold for low-power mode of the powered device. 
     
     
         21 . The system of  claim 20 , wherein the adjusted parameter comprises a gain in a positive force-feedback, whereby the power applied by the powered device is adjusted. 
     
     
         22 . The system of  claim 20 , wherein the adjusted parameter comprises an exponent in a positive force-feedback, whereby the timing of the application of power is adjusted. 
     
     
         23 . The system of  claim 14 , further comprising a receiver for receiving a data signal from the powered device, wherein adjusting the parameter is based at least in part on the received data signal. 
     
     
         24 . The system of  claim 23 , wherein the received data signal is related to at least one of rate of plantarflexion, heel rise, ambulation-step length. 
     
     
         25 . The system of  claim 14 , wherein the control signal is transmitted during at least one of a training mode and a use mode. 
     
     
         26 . The system of  claim 14 , wherein the wireless transmitter is adapted to store the transmitted control signal for subsequent retransmission thereof. 
     
     
         27 . The system of  claim 14 , wherein the powered augmentation device is selected from the group consisting of a prosthetic device and an orthotic device. 
     
     
         28 . The system of  claim 14 , wherein the wireless transmitter is adapted to transmit the control signal to a second powered human augmentation device. 
     
     
         29 . The system of  claim 14 , wherein the wireless transmitter comprises a transmitter of a mobile device. 
     
     
         30 . The system of  claim 29 , wherein the mobile device is selected from the group consisting of a cell phone, a personal digital assistant, and a tablet PC. 
     
     
         31 . An article of manufacture, comprising a non-transitory machine-readable medium storing instructions that, when executed by a processor, configure the processor to:
 adjust a parameter of the powered device within a gait cycle by wirelessly transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter, providing at least a biomimetic response to a wearer of the powered device.