Control systems and methods for prosthetic or orthotic devices

Abstract

Geomagnetic methods and systems are used for monitoring the directionality of a prosthetic or orthotic device. Certain methods may include measuring multiple data points over a particular time interval to identify orientation information with respect to a prosthetic or orthotic device and/or used in the real-time control of the prosthetic or orthotic device. In certain examples, multiple points may be further compared with stored orientation data associated with predefined unsafe gait patterns. Control instructions and/or alerts based on the geomagnetic measurements can then be generated for the prosthetic or orthotic device, such as if the orientation data information matches one of the predefined unsafe gait patterns.

1 - 20 . (canceled) 
     
     
         21 . A method for controlling an adjustable prosthetic or orthotic device, the method comprising:
 measuring with a geo-magnetic sensor a plurality of data points over a time interval, wherein the plurality of data points provides orientation data information of a prosthetic or orthotic device with respect to the earth's magnetic field;   processing the plurality of data points over the time interval by comparing the orientation data information with predefined gait patterns related to a change in geomagnetic direction; and   outputting control instructions to the prosthetic or orthotic device when the orientation data information indicates a turn greater than  20  degrees while walking, the control instructions comprising at least one of an alert command and an instruction to control or restrict movement of the prosthetic or orthotic device.   
     
     
         22 . The method of  claim 21 , wherein the orientation data information comprises at least a first angle, a second angle, and a third angle and wherein the first, second, and third angle comprises a roll, inclination, and azimuth angle, respectively. 
     
     
         23 . The method of  claim 22 , wherein the geo-magnetic sensor measures the plurality of data points with an accuracy of between about 0.01 and about 1.0 degrees for the first and second angles and between about 1.0 and about 2.0 for the third angle. 
     
     
         24 . The method of  claim 22 , wherein the geo-magnetic sensor recognizes any directional change greater than about 20 degrees for the first, second, and third angles. 
     
     
         25 . The method of  claim 21 , further comprising the step of outputting control instructions to the prosthetic or orthotic device when the orientation data information indicates at least one of walking on a slope and walking on stairs such that the prosthetic or orthotic device operates according to said at least one of walking on a slope or walking on stairs. 
     
     
         26 . The method of  claim 21 , further comprising the step of outputting control instructions to the prosthetic or orthotic device when the orientation data information indicates a u-turn after walking on stairs such that the prosthetic or orthotic device operates according to level ground walking. 
     
     
         27 . The method of  claim 21 , wherein the turn greater than 20 degrees is about the same spot. 
     
     
         28 . A method for controlling an adjustable prosthetic or orthotic device, the method comprising:
 measuring with a geo-magnetic sensor a plurality of data points over a time interval, wherein the plurality of data points provides orientation data information of a prosthetic or orthotic device with respect to the earth's magnetic field;   processing the plurality of data points over the time interval by comparing the orientation data information with predefined gait patterns corresponding to at least one of walking on a slope and walking on stairs; and   outputting control instructions to the prosthetic or orthotic device when the orientation data information matches at least one of walking on a slope and walking on stairs such that the prosthetic or orthotic device operates according to said at least one of walking on a slope or walking on stairs.   
     
     
         29 . The method of  claim 28 , wherein the orientation data information comprises at least a first angle, a second angle, and a third angle and wherein the first, second, and third angle comprises a roll, inclination, and azimuth angle, respectively. 
     
     
         30 . The method of  claim 29 , wherein the geo-magnetic sensor measures the plurality of data points with an accuracy of between about 0.01 and about 1.0 degrees for the first and second angles and between about 1.0 and about 2.0 for the third angle. 
     
     
         31 . The method of  claim 29 , wherein the geo-magnetic sensor recognizes any directional change greater than about 20 degrees for the first, second, and third angles. 
     
     
         32 . The method of  claim 28 , further comprising issuing an alert if the orientation data information matches one of the predefined gait patterns. 
     
     
         33 . The method of  claim 32 , further comprising the steps of:
 processing the plurality of data points over the time interval by comparing the orientation data information with predefined gait patterns corresponding with a u-turn; and   outputting control instructions to the prosthetic or orthotic device when the orientation data information matches a u-turn after walking on stairs such that the prosthetic or orthotic device operates according to level-ground.   
     
     
         34 . The method of  claim 28 , further comprising actuating the device in response to the control instructions. 
     
     
         35 . A prosthetic or orthotic device capable of monitoring directionality and providing feedback control, comprising:
 at least one geo-magnetic sensor disposed on an adjustable prosthetic or orthotic device, wherein the at least one geo-magnetic sensor is configured to monitor the geomagnetic directionality of the device and provide geomagnetic directionality data; and   a processor, wherein the processor is configured to process the geomagnetic directionality data to recognize at least one of walking on stairs and walking on a slope and output a command based at least in part on the geomagnetic directionality data, wherein the command comprises an instruction to control the device for said at least one of walking on stairs and walking on a slope.   
     
     
         36 . The device of  claim 35 , wherein the processor is further configured to process the geomagnetic directionality data to recognize an unsafe gait pattern and to output at least one of an alert command and an instruction to control or restrict movement of the device when the unsafe gait pattern is recognized. 
     
     
         37 . The device of  claim 36 , wherein the processor is configured to output an alert command, the alert command comprising instructing a warning system to output at least one of an auditory signal, a tactile signal, and a locking mechanism based at least in part on the directionality data. 
     
     
         38 . The device of  claim 35 , wherein the device comprises a prosthetic knee device. 
     
     
         39 . The device of  claim 35 , wherein the device comprises a prosthetic ankle device. 
     
     
         40 . The device of  claim 35 , wherein the device comprises an orthotic device. 
     
     
         41 . The device of  claim 35 , wherein the processor is further configured to process the geomagnetic directionality data to recognize a u-turn after walking on a stairs and output a command based at least in part on the recognized u-turn after walking on stairs to control the device for level-ground walking.