# US 10,499,851 B2 · System for control of a prosthetic device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,499,851 B2 - Document ID: US10499851B2 - Status: Granted - Kind: B2 - Application number: 15/822,357 - Filed: 2017-11-27 - Published: 2018-05-17 - Granted: 2019-12-10 - Earliest claimed: 2007-02-06 - Assignees: DEKA Products Limited Partnership - Applicants: DEKA Products Limited Partnership - Inventors: Dirk A. van der Merwe; Gregory R. Lanier; John M. Kerwin; Gerald M. Guay; N. Christopher Perry; Susan D. Dastous - Web page: https://patentgrep.com/patent/US10499851B2 ## CPC - A61B 5/6807: {Footwear} - A61B 5/11: Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb {(A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721)} - A61F 2/70: electrical - A61F 2/72: Bioelectric control, e.g. myoelectric - A61F 2/76: Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing - G01C 9/00: Measuring inclination, e.g. by clinometers, by levels - G01C 21/166: {Mechanical, construction or arrangement details of inertial navigation systems} - G05B 15/02: electric - A61B 5/1036: {Measuring load distribution, e.g. podologic studies} - A61B 5/4528: {Joints (A61B5/4533, A61B5/4538 take precedence)} - A61F 2/54: Artificial arms or hands or parts thereof - A61F 2/60: Artificial legs or feet or parts thereof - 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 2002/763: {for measuring spatial position, e.g. global positioning system [GPS]} - A61F 2002/7635: {for measuring force, pressure or mechanical tension} - A61F 2002/764: {for measuring acceleration} - A61F 2002/765: {for measuring time or frequency} - A61F 2002/7685: {located on natural or sound-site limbs, e.g. comparison measuring means} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A system for control of a prosthetic device includes at least one Inertial Measurement Unit detecting orientation of a user's foot. The at least one Inertial Measurement Unit is in communication with a device module configured to command at least one actuator of a prosthetic device. The at least one Inertial Measurement unit sends output signals related to orientation of the user's foot to the device module and the device module controls the at least one actuator of the prosthetic device based on the signals from the at least one Inertial Measurement Unit. ## Claims ### Claim 1 A control system for a prosthetic device comprising: at least one sensor module adapted to detect user input and to generate at least one body input signal based on the detected user input; a device module including a central processing unit and having at least one prosthetic control mode, the device module being in communication with the at least one sensor module; and at least one actuator of the prosthetic device configured to receive commands from the device module, wherein the device module receives the at least one body input signal from the at least one sensor module and commands the at least one actuator in accordance with the at least one body input signal, and wherein the device module is configured to detect user walking based at least on the body input signals and to stop sending commands to the at least one actuator when user walking is detected. ### Claim 2 (depends on 1) The control system according to claim 1 further comprising wherein the device module commands the at least one actuator in accordance with the at least one body input signal and a current control mode of the at least one prosthetic control mode. ### Claim 3 (depends on 1) The control system according to claim 1 further comprising wherein the at least one sensor module comprises at least one inertial measurement unit. ### Claim 4 (depends on 3) The control system according to claim 3 further comprising wherein the at least one inertial measurement unit comprises at least one accelerometer. ### Claim 5 (depends on 3) The control system according to claim 3 further comprising wherein the inertial measurement unit comprises at least one accelerometer that is configured to detect accelerations in three perpendicular axes. ### Claim 6 (depends on 3) The control system according to claim 3 further comprising wherein the inertial measurement unit includes at least three accelerometers, each accelerometer adapted to detect acceleration in a single axis, the at least three accelerometers oriented with respect to one another to detect accelerations in three perpendicular axes. ### Claim 7 (depends on 4) The control system according to claim 4 further comprising wherein the at least one sensor module sends body input signals to the device module according to the accelerations detected by the at least one accelerometer and the device module detects user walking based at least on the body input signals. ### Claim 8 (depends on 1) The control system according to claim 1 further comprising wherein the at least one prosthetic control mode includes a bulk mode controlling movement of an end point of the prosthetic device within a movement envelope. ### Claim 9 (depends on 8) The control system according to claim 8 further comprising wherein the device module commands a movement of the end point of the prosthetic device within the movement envelope in accordance with the at least one body input signal, the at least one body input signal being indicative of a desired directional movement of the end point of the prosthetic device. ### Claim 10 (depends on 9) The control system according to claim 9 further comprising wherein the device module commands a movement of the end point of the prosthetic device along a boundary of the movement envelope when the desired directional movement of the end point of the prosthetic device required by the at least one body input signal would require movement of the end point of the prosthetic device outside of the movement envelope, the movement along the boundary of the movement envelope including at least a first directional component of the desired directional movement commanded by the at least one body input signal and at least a second directional component different from the desired directional movement commanded by the at least one body input signal. ### Claim 11 (depends on 1) The control system according to claim 1 further comprising wherein the at least one prosthetic control mode includes a finesse mode controlling movement of a prosthetic hand of the prosthetic device. ### Claim 12 (depends on 11) The control system according to claim 11 further comprising wherein the finesse mode additionally controls movement of a prosthetic wrist of the prosthetic device. ### Claim 13 (depends on 11) The control system according to claim 11 further comprising wherein the finesse mode includes a plurality of grips controlling movement of the prosthetic hand. ### Claim 14 A system for control of a prosthetic device comprising: at least one sensor module having an inertial measurement unit; a device module including a central processing unit, the device module in communication with the at least one sensor module; and at least one actuator of the prosthetic device configured to receive commands from the device module, wherein the at least one sensor module sends body input signals related to orientation to the device module, the body input signals being based on detected user input detected by the inertial measurement unit, wherein the device module sends commands to the at least one actuator of the prosthetic device based at least on the body input signals from the at least one sensor module, and wherein the device module is configured to detect user walking based at least on the body input signals and to stop sending commands to the at least one actuator when user walking is detected. ### Claim 15 (depends on 14) The system according to claim 14 further comprising wherein the inertial measurement unit includes at least two accelerometers and at least one gyroscope. ### Claim 16 (depends on 14) The system according to claim 14 further comprising wherein the at least one sensor module includes a sensor CPU configured to process the body input signals. ### Claim 17 (depends on 14) The system according to claim 14 further comprising wherein the at least one sensor module includes a sensor communicator configured to wirelessly transmit the body input signals to the device module. ### Claim 18 (depends on 17) The system according to claim 17 further comprising wherein the sensor communicator is a radio frequency transmitter. ### Claim 19 (depends on 14) The system according to claim 14 further comprising at least one feedback sensor disposed on the prosthetic device in communication with the device module. ### Claim 20 (depends on 19) The system according to claim 19 further comprising wherein the at least one feedback sensor sends at least one prosthetic device status signal to the device module; and wherein the device module sends commands to the at least one actuator of the prosthetic device based on the at least one prosthetic device status signal.