Control of limb device

Abstract

The invention refers to the area of control of a limb device in the form of an artificial limb for a human or a robot limb. In particular, the invention is related to a control unit for electrically controlling an electrically controllable limb device, the limb device comprising a plurality of actuators, the control unit comprising a first interface for connecting the control unit to the limb device, the control unit comprising a second interface for connecting the control unit to a data gathering device comprising one or more sensing devices, the control unit comprising a processing unit which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device calculated by the processing unit based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device calculated by the processing unit based on a second data or data combination received from the data gathering device, the second data or data combination being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step. The invention further refers to a system comprising such a control unit, a method for controlling an electrically controllable limb device and a computer program.

1 . A control unit for electrically controlling an electrically controllable limb device in the form of an artificial limb for a human or a robot limb, the limb device comprising a plurality of actuators, the control unit comprising a first interface for connecting the control unit to the limb device, the control unit comprising a second interface for connecting the control unit to a data gathering device comprising one or more sensing devices, the control unit comprising a processing unit which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device calculated by the processing unit based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device calculated by the processing unit based on a second data or data combination received from the data gathering device, the second data or data combination being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step. 
     
     
         2 . The control unit according to  claim 1 , wherein the control unit is arranged for receiving data via the second interface from the data gathering device which comprises at least 3D (three dimensional) information including depth information. 
     
     
         3 . The control unit according to  claim 1 , characterised in that the control unit is arranged for receiving data via the second interface from the data gathering device which comprises at least one of camera data, 3D-scanning device data such as stereovision camera arrangement data, laser scanning data, white light scanning data, and inertial sensing unit data. 
     
     
         4 . The control unit according to  claim 1 , wherein the control unit comprises a third interface for connecting the control unit to a visual output device to be used by a user of the limb device, wherein the control unit is arranged for outputting visual data to the visual output device based on data received from the data gathering device and/or control steps outputted to the limb device. 
     
     
         5 . The control unit according to  claim 4 , wherein the visual device is a stereovision augmented reality device which is arranged for being worn by a user of the limb device, allowing to output visual information to the user which comprises at least 3D information including depth information. 
     
     
         6 . The control unit according to  claim 4 , wherein the control unit is arranged for outputting visual data to the visual output device showing positions of the joints of the limb device. 
     
     
         7 . The control unit according to  claim 4  wherein the control unit is arranged for outputting a marking signal on the visual output device based upon an internal selection of an object which is to be grasped by the limb device, the marking signal marking the selected object on the visual output device. 
     
     
         8 . The control unit according to  claim 4  wherein the control unit is arranged for calculating a 3D orientation of the limb device or a part of it from the data received from the data gathering device and for outputting visual information about the calculated 3D orientation on the visual output device. 
     
     
         9 . The control unit according to  claim 4  wherein the control unit comprises another interface for connecting the control unit to a feedback device providing feedback to a user of the limb device, wherein the control unit is arranged for outputting feedback data to the feedback device based on data received from the data gathering device and/or control steps outputted to the limb device. 
     
     
         10 . The control unit according to  claim 9 , wherein the feedback device is at least one of a force feedback device, a tactile feedback device and a temperature feedback device. 
     
     
         11 . The system comprising a control unit according to  claim 4 , a data gathering device comprising one or more sensing devices and an electrically controllable limb device in the form of an artificial limb for a human or a robot limb, the limb device comprising a plurality of actuators, the control unit electrically controlling the limb device via the first interface based upon data received via the second interface from the data gathering device. 
     
     
         12 . The system according to  claim 11 , wherein the data gathering device comprises at least one of camera, 3D-scanning device such as stereovision camera arrangement, laser scanning, white light scanning, and inertial sensing unit. 
     
     
         13 . The system according to  claim 11 , wherein the data gathering device comprises a 3D data gathering device outputting at least 3D information including depth information. 
     
     
         14 . The system according to  claim 11 , wherein the system comprises a visual output device which is connected to the control unit through its third interface. 
     
     
         15 . The system according to  claim 14 , characterised in that wherein the visual output device comprises at least one a display or a stereodisplay, a camera or a stereovision camera arrangement. 
     
     
         16 . The control unit according to  claim 11 , wherein the system comprises a feedback device which is connected to the control unit through another interface of the control unit, the feedback device providing feedback to a user of the limb device controlled by the control unit based on data received from the data gathering device and/or control steps outputted to the limb device. 
     
     
         17 . The control unit according to  claim 16 , wherein the feedback device is at least one of a proprioceptive feedback device and a system feedback device. 
     
     
         18 . The control unit according to  claim 16 , wherein the feedback device is at least one of a force feedback device, a tactile feedback device and a temperature feedback device. 
     
     
         19 . A method for controlling an electrically controllable limb device by a control unit, the limb device being in the form of an artificial limb for a human or a robot limb, the limb device comprising a plurality of actuators, the control unit comprising a first interface for connecting the control unit to the limb device, the control unit comprising a second interface for connecting the control unit to a data gathering device comprising one or more sensing devices, the control unit comprising a processing unit which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit outputs one single control action step to the actuators of the limb device calculated by the processing unit based on a first data or data combination received from the data gathering device, and the control unit outputs a plurality of control action steps to the actuators of the limb device calculated by the processing unit based on a second data or data combination received from the data gathering device, the second data or data combination being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step. 
     
     
         20 . The method according to  claim 19 , wherein myoelectric control is used only for triggering, supervising and fine tuning of the automatic operations of the control unit. 
     
     
         21 . The computer program, arranged for executing a method of  claim 19  if the computer program is executed on a processor of the control unit controlling the limb device.