System for control of a prosthetic device

A prosthetic device comprising:

• a plurality of actuators, each actuator of the plurality of actuators including actuation limits setting an actuation range for the respective actuator;
• and
• a control module for commanding the plurality of actuators, the control module in communication with at least one sensor module adapted to detect orientation changes of itself;
• wherein the control module is 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 while maintaining 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.

A prosthetic device having a plurality of actuators 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 control module, the at least one sensor module adapted to detect orientation changes of itself, 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 while maintaining 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 when the control module determines that movement of the prosthetic device in the commanded direction would result in a movement within a movement envelope of the prosthetic device and commanding the at least one actuator of the plurality of actuators to move the prosthetic device in a closest possible movement path that includes a component of the commanded direction when the control module determines that movement of the prosthetic device in the commanded direction would result in a movement outside of the movement envelope of the prosthetic device.