Simulation system

Abstract

A system for configuring a prosthetic limb for use by a living being is provided. The system includes an electronic control unit (ECU) configured to receive a control signal generated in response to a command from the living being and to generate a plurality of virtual bodies on a display including members of a virtual prosthetic limb and at least one virtual object. The ECU is further configured to control movement of at least one member of the virtual limb responsive to the control signal, to determine a contact force between first and second virtual bodies of the plurality of virtual bodies upon engagement between the first and second bodies caused by movement of one of the one member of the virtual limb and the at least one virtual object and to adjust a position of at least one of the first and second bodies responsive to the contact force.

1 - 20 . (canceled) 
     
     
         21 . A simulation system for use by a living being, comprising:
 an electronic control unit configured to
 receive a control signal generated in response to a command from said living being; 
 generate a plurality of virtual bodies on a display; 
 control movement of a first virtual body of said plurality of virtual bodies responsive to said control signal; 
 determine a contact force between a second virtual body of said plurality of virtual bodies and one of said first virtual body and a third virtual body of said plurality of virtual bodies upon engagement between said second virtual body and said one virtual body caused by movement of said first virtual body; and, 
 adjust a position of at least one of said second virtual body and said one virtual body responsive to said contact force 
   
     
     
         22 . The simulation system of  claim 21  wherein said first virtual body comprises a first member of a first virtual limb. 
     
     
         23 . The simulation system of  claim 22  wherein said second virtual body comprises a first member of a second virtual limb. 
     
     
         24 . The simulation system of  claim 21  wherein said first virtual body comprises a virtual object. 
     
     
         25 . The simulation system of  claim 21  wherein said second and third virtual bodies comprise virtual objects. 
     
     
         26 . A simulation system for use by a living being, comprising:
 an electronic control unit configured to
 receive a control signal generated in response to a command from said living being 
 generate first and second virtual bodies on a display; 
 control movement of said first virtual body responsive to said control signal; 
 determine a contact force between said first virtual body and said second virtual body upon engagement of said second virtual body by said first virtual body; and, 
 adjust a position of at least one of said first and second virtual bodies responsive to said contact force. 
   
     
     
         27 . The simulation system of  claim 26 , further comprising a control interface configured to generate said control signal. 
     
     
         28 . The simulation system of  claim 27 , wherein said control interface comprises a foot activated switch. 
     
     
         29 . The simulation system of  claim 27  wherein said control interface includes:
 a plurality of markers configured to be affixed to said living being; and, 
 first and second cameras generating images of said markers. 
 
     
     
         30 . The simulation system of  claim 27  wherein said control interface includes a sensor. 
     
     
         31 . The simulation system of  claim 30  wherein said sensor comprises an accelerometer configured for attachment to said living being. 
     
     
         32 . The simulation system of  claim 30  wherein said sensor comprises an electrode configured to contact tissue in said living being. 
     
     
         33 . The simulation system of  claim 26  wherein said display comprises a three dimensional display. 
     
     
         34 . The simulation system of  claim 26  wherein said first virtual body includes a first surface and a first plurality of contact elements located at a predetermined position relative to said first surface, each of said first plurality of contact elements having at least one contact node having a predetermined set of characteristics and said second virtual body includes a second surface and a second plurality of contact elements located at a predetermined position relative to said second surface, each of said second plurality of contact elements having at least one contact node having a predetermined set of characteristics. 
     
     
         35 . The simulation system of  claim 34  wherein said electronic control unit is further configured, in determining said contact force, to:
 detect a condition in which a distance between a contact point on a first contact element of said first virtual body and a contact point on a first contact element of said second virtual body is less than a sum of a tolerance of said contact point on said first contact element of said first virtual body and of a tolerance of said contact point on said first contact element of said second virtual body; and, 
 upon detecting said condition, calculate said contact force responsive to one of said predetermined set of characteristics of said at least one contact node of said first contact element of said first virtual body and said predetermined set of characteristics of said at least one contact node of said first contact element of said second virtual body. 
 
     
     
         36 . The simulation system of  claim 35  wherein said electronic control unit is further configured, in determining said contact force, to determine a direction of said contact force responsive to a position of said contact point on said first contact element of said first virtual body and a position of said contact point on said first contact element of said second virtual body. 
     
     
         37 . The simulation system of  claim 34  wherein said predetermined set of characteristics includes at least one characteristic selected from the group consisting of: contact tolerance, stiffness, maximum allowed force, minimum separation force and coefficient of friction. 
     
     
         38 . The simulation system of  claim 34  wherein said electronic control unit is further configured, in adjusting said position of at least one of said first virtual body and said second virtual body, to limit an amount of an adjustment from a prior position to an amount that is less than a predetermined minimum distance between a contact point on a first contact element of said first virtual body and a contact point on a first contact element of said second virtual body. 
     
     
         39 . The simulation system of  claim 26  wherein said electronic control unit is further configured to transmit an output signal through an interface to said living being responsive to said contact force. 
     
     
         40 . The simulation system of  claim 39  wherein said output signal has a predetermined characteristic if said contact force exceeds a predetermined threshold. 
     
     
         41 . The simulation system of  claim 26  wherein said electronic control unit is further configured to:
 generate a third virtual body on said display; 
 determine a second contact force between said first virtual body and said third virtual body upon engagement of said third virtual body by said first virtual body; and, 
 adjust a position of at least one of said first and third virtual bodies responsive to said second contact force. 
 
     
     
         42 . The simulation system of  claim 26  wherein said electronic control unit is further configured to:
 generate a third virtual body on said display; 
 determine a second contact force between said second virtual body and said third virtual body upon engagement of said third virtual body by said second virtual body; and, 
 adjust a position of at least one of said second and third virtual bodies responsive to said second contact force. 
 
     
     
         43 . A simulation system for use by living beings, comprising:
 an electronic control unit configured to
 receive a first control signal generated in response to a first command from a first living being; 
 receive a second control signal generated in response to a second command from one of said first living being and a second living being; 
 generate a plurality of virtual bodies on a display; 
 control movement of a first virtual body of said plurality of virtual bodies responsive to said first control signal; 
 control movement of a second virtual body of said plurality of virtual bodies responsive to said second control signal; 
 determine a first contact force between said first virtual body and a third virtual body of said plurality of virtual bodies upon engagement between said first virtual body and said third virtual body caused by movement of said first virtual body; 
 determine a second contact force between said second virtual body and said third virtual body upon engagement between said second virtual body and said third virtual body caused by movement of said second virtual body; and, 
 adjust a position of said third virtual body responsive to said first and second contact forces. 
   
     
     
         44 . A simulation system for use by living beings, comprising:
 an electronic control unit configured to
 receive a first control signal generated in response to a first command from a first living being; 
 receive a second control signal generated in response to a second command from one of said first living being and a second living being; 
 generate a plurality of virtual bodies on a display; 
 control movement of a first virtual body of said plurality of virtual bodies responsive to said first control signal; 
 control movement of a second virtual body of said plurality of virtual bodies responsive to said second control signal; 
 determine a first contact force between said first virtual body and a third virtual body of said plurality of virtual bodies upon engagement between said first virtual body and said third virtual body caused by movement of said first virtual body; 
 determine a second contact force between said second virtual body and a fourth virtual body upon engagement between said second virtual body and said fourth virtual body caused by movement of said second virtual body; 
 adjust a position of said third virtual body responsive to said first contact force; and, 
 adjust a position of said fourth virtual body responsive to said second contact force. 
   
     
     
         45 . A simulation system for use by living beings, comprising:
 an electronic control unit configured to
 receive a first control signal generated in response to a first command from a first living being; 
 receive a second control signal generated in response to a second command from one of said first living being and a second living being; 
 generate a plurality of virtual bodies on a display; 
 control movement of a first virtual body of said plurality of virtual bodies responsive to said first control signal; 
 control movement of a second virtual body of said plurality of virtual bodies responsive to said second control signal; 
 determine a first contact force between said first virtual body and said second virtual body upon engagement between said first virtual body and said second virtual body caused by movement of said first and second virtual bodies; and, 
 adjust a position of at least one of said first and second virtual bodies responsive to said first contact force. 
   
     
     
         46 . The simulation system of  claim 21  wherein the electronic control unit is further configured to generate a feedback signal configured to provide an indication of the contact force to the living being. 
     
     
         47 . The simulation system of  claim 21  wherein the electronic control unit is further configured to deform a shape of at least one of said second virtual body and said one virtual body on said display responsive to said contact force.