Multi-modal upper limb prosthetic device control using myoelectric signals

A prosthetic device comprising:

• a moveable digit;
• memory storing an operating profile, wherein the operating profile comprises a plurality of ranges, each range of the plurality of ranges corresponding to a different combination of a particular hand gesture of the moveable digit of the prosthetic device and a magnitude of an operating parameter of the particular hand gesture;
• and
• at least one processor configured to:
• receive a first input control signal from a first EMG sensor,
• receive a second input control signal from a second EMG sensor,
• identify a range of the plurality of ranges of the operating profile that corresponds to both the first input control signal and the second input control signal,
• determine a selected hand gesture from at least three hand gestures based on the identified range of the operating profile,
• determine a selected magnitude of the operating parameter based on the identified range of the operating profile, and
• cause the moveable digit to transition directly from a current hand gesture to the selected hand gesture of the at least three hand gestures at or with the selected magnitude of the operating parameter.

A method of operating a prosthetic device that includes a moveable digit, the method comprising:

• receiving a plurality of input control signals from a plurality of electromyography (EMG) sensors;
• determining a single input command signal based at least in part on the plurality of input control signals;
• selecting an operating profile from a plurality of operating profiles based at least in part on user fatigue;
• concurrently selecting a particular hand gesture and a particular magnitude of an operating parameter for the particular hand gesture based on a comparison of the single input command signal with the selected operating profile,
• wherein the selected operating profile comprises a plurality of ranges, each range of the plurality of ranges corresponding to a different combination of a respective hand gesture of the moveable digit of the prosthetic device and a magnitude of an operating parameter for the respective hand gesture, and wherein a quantity of the plurality of ranges of the selected operating profile is different from a quantity of the plurality of ranges of at least one other operating profile of the plurality of operating profiles,
• wherein the particular hand gesture and the particular magnitude of an operating parameter are selected based on a particular range of the plurality of ranges that corresponds to the single input command signal;
• and
• instructing the moveable digit to perform a digit movement corresponding to the selected hand gesture at or with the selected magnitude of the operating parameter.