# US 10,369,022 B2 · System for control of a prosthetic device

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- Number: US 10,369,022 B2
- Document ID: US10369022B2
- Status: Granted
- Kind: B2
- Application number: 14/833,781
- Filed: 2015-08-24
- Published: 2015-12-10
- Granted: 2019-08-06
- Earliest claimed: 2007-02-06
- Assignees: DEKA Products Limited Partnership
- Applicants: DEKA Products Limited Partnership
- Inventors: Dirk Albertus van der Merwe; Gregory R. Lanier; John M. Kerwin; Gerald M. Guay; N. Christopher Perry; Susan D. Dastous
- Web page: https://patentgrep.com/patent/US10369022B2

## CPC

- A61F 2/70: electrical
- A61F 2/54: Artificial arms or hands or parts thereof
- A61F 2/581: {Shoulder joints}
- A61F 2/582: {Elbow joints}
- A61F 2/585: {Wrist joints}
- A61F 2/586: {Fingers}
- A61B 5/1036: {Measuring load distribution, e.g. podologic studies}
- A61B 5/4528: {Joints (A61B5/4533, A61B5/4538 take precedence)}
- A61F 2/583: {Hands; Wrist joints}
- A61F 2/72: Bioelectric control, e.g. myoelectric
- A61F 2002/5018: {for adjusting angular orientation}
- A61F 2002/5021: {for adjusting a position by translation along an axis}
- A61F 2002/543: {Lower arms or forearms}
- A61F 2002/546: {Upper arms}
- A61F 2002/587: {Thumbs}
- A61F 2002/6827: {Feedback system for providing user sensation, e.g. by force, contact or position}
- A61F 2002/701: {operated by electrically controlled means, e.g. solenoids or torque motors}
- A61F 2002/704: {computer-controlled, e.g. robotic control}
- A61F 2002/705: {Electromagnetic data transfer}
- A61F 2002/707: {Remote control}
- A61F 2002/762: {for measuring dimensions, e.g. a distance}
- A61F 2002/7625: {for measuring angular position}
- A61F 2002/7635: {for measuring force, pressure or mechanical tension}
- A61F 2002/764: {for measuring acceleration}
- A61F 2002/7645: {for measuring torque, e.g. hinge or turning moment, moment of force}
- A61F 2002/7685: {located on natural or sound-site limbs, e.g. comparison measuring means}
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A control system for control of a prosthetic device having a plurality of actuators receives an orientation signal indicative of a desired movement. The control system evaluates whether the prosthetic device may move as desired with a current angle of rotation and commands at least one actuator to move the prosthetic device as desired by maintaining the current angle of rotation or by adjusting the angle of rotation if the prosthetic device cannot move as desired with the current angle. The control system may alternate between commanding a first subset of actuators and a second subset of actuators each time the orientation signal is indicative of a neutral position. The control system may include a position sensor and a compliance sensor and may command at least one actuator based on a combination of positional control using the position sensor and force control using the compliance sensor.

## Claims

### Claim 1

An arm prosthetic device having a plurality of actuators each configured to control the prosthetic arm and a control module for commanding the plurality of actuators, the control module in communication with at least one sensor module housed separately from the prosthetic device and independently movable relative thereto, the at least one sensor module adapted to detect orientation changes of the at least one sensor module, the control module configured to perform operations comprising:
receiving at least one orientation signal from the sensor module, the orientation signal being indicative of a commanded direction of movement of the prosthetic device;
evaluating whether the prosthetic device may move in the commanded direction based on a current angle of rotation of the prosthetic device; and
commanding at least one actuator of the plurality of actuators to move the prosthetic device in the commanded direction.

### Claim 2 (depends on 1)

The prosthetic device according to claim 1, wherein the control module maintains the current angle of rotation of the prosthetic device when commanding the at least one actuator to move the prosthetic device in the commanded direction.

### Claim 3 (depends on 1)

The prosthetic device according to claim 1, wherein the control module is further configured to perform operations comprising:
adjusting the angle of rotation of the prosthetic device if the prosthetic device cannot move in the commanded direction based on the current angle of rotation.

### Claim 4 (depends on 3)

The prosthetic device according to claim 3, wherein, each actuator of the plurality of actuators includes joint limits defining a movement range of the actuator, and wherein the control module adjusts the angle of rotation of the prosthetic device in accordance with the joint limits of the plurality of actuators.

### Claim 5 (depends on 4)

The prosthetic device according to claim 4, wherein the control module adjusts the angle of rotation of the prosthetic device in accordance with at least one position limiting boundary of the prosthetic device.

### Claim 6

An arm prosthetic device comprising a plurality of actuators each configured to control the prosthetic arm, each actuator of the plurality of actuators including actuation limits defining an actuation range for the actuator, and a control module for commanding the plurality of actuators, the control module in communication with at least one sensor module, the at least one sensor module housed separately from the prosthetic device and independently movable relative thereto, the at least one sensor module adapted to detect orientation changes of the at least one sensor module, the control module configured to perform operations comprising:
receiving at least one orientation signal from the sensor module, the orientation signal being indicative of a commanded direction of movement of the prosthetic device;
evaluating whether the prosthetic device may move in the commanded direction based on a current angle of rotation of the prosthetic device;
commanding at least one actuator of the plurality of actuators to move the prosthetic device in the commanded direction; and
adjusting the angle of rotation of the prosthetic device in accordance with the actuation limits of the plurality of actuators.

### Claim 7 (depends on 6)

The prosthetic device according to claim 6, wherein the control module maintains the current angle of rotation of the prosthetic device when commanding the at least one actuator to move the prosthetic device in the commanded direction.

### Claim 8 (depends on 6)

The prosthetic device according to claim 6, wherein the control module is further configured to perform operations comprising:
adjusting the angle of rotation of the prosthetic device in accordance with the actuation limits of the plurality of actuators if it is evaluated that the prosthetic device cannot move in the commanded direction based on the current angle of rotation.

### Claim 9 (depends on 8)

The prosthetic device according to claim 8, wherein the control module adjusts the angle of rotation of the prosthetic device in accordance with at least one position limiting boundary of the prosthetic device.