Coordinated control for an arm prosthesis
AssigneeVanderbilt University
InventorsMichael Goldfarb, Nasser Alshammary, Daniel Bennett, Skyler Dalley
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Abstract
A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.
Claims17
A method for the control of an arm prosthesis having at least a powered elbow joint and at least one inertial measurement sensor (IMS), the method comprising:
- determining a motion of at least an upper arm portion of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS;
- estimating a motion of intact joint of a residual limb associated with the upper arm portion based on the motion of the upper arm portion;
- selecting a coordinated mode of operating at least the powered elbow joint based at least on the motion of the upper arm portion;
- and
- generating control signals for at least the powered elbow joint based on the motion of the upper arm portion and the selected coordinated mode, wherein the generating the control signals comprises controlling an angular movement of the powered elbow joint based on the motion of the upper arm portion, and wherein the control signals are configured in the selected coordinated mode to cause the arm prosthesis to achieve a pose by coordinating motion of the powered elbow joint with the intact joint.
A non-transitory computer-readable medium having stored thereon a computer program for controlling an arm prosthesis comprising a control system, an upper arm portion, a forearm portion, a powered elbow joint, and an inertial measurement sensor (IMS), the computer program comprising a plurality of instructions for causing a control system to perform steps comprising:
- determining a motion of at least an upper arm portion of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS;
- estimating a motion of intact joint of a residual limb associated with the upper arm portion based on the motion of the upper arm portion;
- selecting a coordinated mode of operating at least the powered elbow joint based at least on the motion of the upper arm portion;
- and
- generating control signals for at least the powered elbow joint based on the motion of the upper arm portion and the selected coordinated control mode, wherein the generating the control signals comprises controlling an angular movement of the powered elbow joint based on the motion of the upper arm portion, and wherein the control signals are configured in the selected coordinated mode to cause the arm prosthesis to achieve a pose by coordinating motion of the powered elbow joint with the intact joint.
A control system for an arm prosthesis comprising an upper arm portion, a forearm portion, a powered elbow joint, and an inertial measurement sensor, the control system comprising:
- a processor;
- and
- a non-transitory computer readable medium, having stored thereon a plurality of instructions for causing the processor to perform steps comprising:
- determining a motion of at least an upper arm portion of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS;
- estimating a motion of intact joint of a residual limb associated with the upper arm portion based on the motion of the upper arm portion;
- selecting a coordinated mode of operating at least the powered elbow joint based at least on the motion of the upper arm portion;
- and
- generating control signals for at least the powered elbow joint based on the motion of the upper arm portion and the selected coordinated control mode, wherein the generating the control signals comprises controlling an angular movement of the powered elbow joint based on the motion of the upper arm portion, and wherein the control signals are configured in the selected coordinated mode to cause the arm prosthesis to achieve a pose by coordinating motion of the powered elbow joint with the intact joint.
Dependencies are inferred from the claim text.