Prosthesis

A prosthesis to replace a missing extremity of a living being, the prosthesis comprising:

• one or more prosthetic links configured to be driven by actuators, wherein a proximal prosthetic link has a mechanical interface to fix the proximal prosthetic link to the living being;
• first sensors configured to sense a current state ZUS(t) of the prosthesis, wherein the current state ZUS(t) is a state of contact between the prosthesis and an environment;
• second sensors configured to sense biosignals SIGBIO(t) of the living being associated with controlling the missing extremity;
• third sensors configured to sense data DUMG(t) that describe a current environment of the prosthesis, including objects and/or other living beings located in the environment;
• a processing device;
• and
• a memory storing instructions that, when executed by the processing device, perform operations comprising:
• determining a model MA(t) of an action A to be performed by the prosthesis based on the biosignals SIGBIO(t), the state ZUS(t) of the prosthesis, and the data DUMG(t), and predicting motions Beweg(MA(t)), dependent on the model MA(t), of the prosthetic links for a time period [t, t+Δt];
• determining a discrete decision E to replace the action A with an action A′(E) based on an evaluation of the biosignals SIGBIO(t), the state ZUS(t), the data DUMG(t), and the predicted motions Beweg(MA(t)) in accordance with a specified evaluation scheme, wherein the action A′(E) is enabled to define a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, and wherein, if the action A′(E) does not define the reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, then determining a model MA(t) of the action A′(E) to be performed by the prosthesis, and predicting motions Beweg(MA′(t)), dependent on the model MA′(t), of the prosthetic links for the time period [t, t+Δt];
• and
• deriving control signals Sig(t) and controlling/regulating the actuators to drive the prosthetic links based on the control signals Sig(t), wherein the control signals Sig(t) are based on currently valid, predicted motions Beweg(MA(t)) or Beweg(MA′(t)), or based on the reflexive motion and/or protective motion that is autonomously controlled in an open-loop/closed-loop manner.