Back to results
US 12,667,472 B2Granted
Method and system to activate limb movement in amputees
AssigneesThe United States Government as represented by the Department of Veterans Affairs, Northwestern University
InventorsMatthew Justin Major, Riley Marshall Knox, Matthew Lawrence Elwin, Yael Ben Shalom
Life of this patent
Estimating the term…
Abstract
A limb activation system includes a sensor configured to monitor movement of a user. The system also includes a processor operatively coupled to the sensor and configured to determine, based on the movement of the user, that the user is engaged in walking or running. The processor is also configured to generate an activation signal responsive to the determination that the user is engaged in walking or running. A data-based model integrates sensor information to drive activation and arm swing of the affected upper limb.
Claims19
A limb activation system comprising:
- at least one sensor configured to be coupled to a prosthetic arm of a user and configured to monitor movement of the user;
- at least one motor configured to be coupled to the prosthetic arm, the at least one motor configured to cause the prosthetic arm to move in a cyclical motion;
- a clutch configured to disengage the at least one motor;
- and
- a computing device operatively coupled to the at least one sensor, the at least one motor, and the clutch, the computing device comprising a memory and at least one processor, wherein the memory is configured to store computer-readable instructions and predetermined arm movement data patterns, wherein the predetermined arm movement data patterns include a kinematic relationship between walking speeds and elbow joint range-of-motion, wherein upon execution of the computer-readable instructions, the at least one processor is configured to:
- cause a motion classifier to determine, based on data from one or more sensors of the at least one sensor, whether the user is engaged in walking, whether the user is engage in running, and whether the user is engaged in neither walking nor running, wherein the motion classifier is configured to generate an on signal when the motion classifier determines the user is engaged in walking or running, and wherein the motion classifier is configured to generate an off signal when the motion classifier determines the user is engaged in neither walking nor running;
- cause a cadence detector to determine, based on data from one or more sensors of the at least one sensor, a step cadence of the user;
- cause a trajectory generator to determine, based on the step cadence of the user and the predetermined arm movement data patterns, a cyclical trajectory of the prosthetic arm worn by the user when the motion classifier generates the on signal;
- not cause the trajectory generator to determine the cyclical trajectory when the motion classifier generates the off signal,
- cause the motor to move the prosthetic arm of the user in the cyclical motion based on the cyclical trajectory,
- determine a difference between a desired prosthetic position based on the cyclical trajectory and an actual prosthetic position based on data from one or more sensors of the at least one sensor,
- cause the motor to move the prosthetic arm of the user in the cyclical motion based on the determined difference between the desired prosthetic position and the actual prosthetic position, and
- cause the clutch to disengage the motor when the motion classifier generates the off signal.
10 more elements
A limb activation system comprising:
- at least one sensor configured to be coupled to a prosthetic arm of a user and configured to monitor movement of the user wearing the prosthetic arm;
- and
- a computing device operatively coupled to the at least one sensor, the computing device comprising a memory and at least one processor, wherein the memory is configured to store computer-readable instructions and predetermined arm movement data patterns, wherein the predetermined arm movement data patterns includes a kinematic relationship between walking speeds and elbow joint range-of-motion, wherein upon execution of the computer-readable instructions, the at least one processor is configured to:
- cause a motion classifier to determine, based on data from one or more sensors of the at least one sensor, whether the user is engaged in walking, whether the user is engaged in running, and whether the user is engaged in neither walking nor running, wherein the motion classifier is configured to generate an on signal when the motion classifier determines the user is engaged in walking or running, and wherein the motion classifier is configured to generate an off signal when the motion classifier determines the user is engaged in neither walking nor running;
- cause a cadence detector to determine, based on data from one or more sensors of the at least one sensor, a step cadence of the user;
- cause a trajectory generator to determine, based on the step cadence of the user and the predetermined arm movement data patterns, a cyclical trajectory of the prosthetic worn by the user when the motion classifier generates the on signal;
- not cause the trajectory generator to determine the cyclical trajectory when the motion classifier generates the off signal, and
- cause movement of the prosthetic of the user in the cyclical motion based on the cyclical trajectory,
- determine a difference between a desired prosthetic position based on the cyclical trajectory and an actual prosthetic position based on data from one or more sensors of the at least one sensor, and
- cause the prosthetic arm of the user to move in the cyclical motion based on the difference.
7 more elements
Dependencies are inferred from the claim text.