Systems and method for volitional control of jointed mechanical device based on surface electromyography
AssigneeVanderbilt University
InventorsMichael Goldfarb, Huseyin Atakan Varol, Kevin Ha
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Abstract
Systems and methods for controlling a weight bearing member having at least one powered joint are provided. A system includes a velocity reference module for receiving myoelectric control signals from a user during a non-weight bearing mode for the powered joint and generating a velocity reference for the powered joint based on the myoelectric control signals. The system further includes a volitional impedance module for generating a torque control signal for actuating the powered joint based at least on the velocity reference.
Claims17
A controller for controlling a plurality of powered joints in a leg prosthesis, comprising:
- a processor;
- and
- a computer-readable medium, having stored thereon a plurality of instructions for causing the processor to perform the steps of:
- receiving, from a plurality of electromyogram (EMG) electrodes associated with a plurality of different muscle groups of a user, EMG signals for the user during a non-weight bearing mode of operation for at least one powered joint in the plurality of powered joints;
- determining an intent of the user based on a discriminant analysis of the EMG signals;
- determining, based on the received EMG signals, movement characteristics for the at least one powered joint, the movement characteristics comprising an angular velocity, a joint stiffness, and a damping;
- generating a velocity reference for the at least one powered joint based on the EMG signals and the intent of the user;
- and
- transmitting, to a motor unit for the at least one powered joint, a torque control signal for actuating the at least one powered joint, the torque control signal comprising the determined movement characteristics and based at least on the velocity reference and the intent of the user.
A method performed in a controller for controlling a plurality of powered joints in a leg prosthesis, comprising:
- receiving, at the controller from a plurality of electromyogram (EMG) electrodes associated with a plurality of different muscle groups of a user, EMG signals for the user during a non-weight bearing mode of operation for at least one powered joint in the plurality of powered joints;
- determining an intent of the user based on a discriminant analysis of the EMG signals;
- determining, based on the received EMG signals, movement characteristics for the at least one powered joint, the movement characteristics comprising an angular velocity, a joint stiffness, and a damping;
- generating, at the controller, a velocity reference for the at least one powered joint based on the EMG signals and the intent of the user;
- and
- transmitting, from the controller to a motor unit for the at least one powered joint, a torque control signal for operating the motor unit and actuating the at least one powered joint, the torque control signal comprising the determined movement characteristics and generated based at least on the velocity reference and the intent of the user.
Dependencies are inferred from the claim text.