Prosthesis

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

• one or more prosthetic links driven by actuators, wherein a proximal prosthetic link has a mechanical interface to fix the proximal prosthetic link to the living being;
• first sensors to sense a current state ZUS(t) of the prosthesis, particularly a state of contact between the prosthesis and an environment;
• an interface to second sensors, the second sensors to sense biosignals SIGBIO(t) in the living being for controlling the missing extremity;
• third sensors to sense data DUMG(t) that describe a current environment of the prosthesis, particularly objects and/or other living beings located in the environment;
• a prediction unit to determine a model MA(t) of an action A to be performed by the prosthesis on the basis of the biosignals SIGBIO(t) and the state ZUS(t) of the prosthesis and the data DUMG(t), the prediction unit further to predict motions Beweg(MA(t)), dependent on the model MA(t), of the prosthetic links for a time period [t, t+Δt];
• an evaluating unit to determine a discrete decision E to replace the action A with another action A′(E) on the basis of an evaluation of the biosignals SIGBIO(t), of the state ZUS(t), of the data DUMG(t), and of 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 such a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, the prediction unit is to determine a model MA′(t) of the action A′ to be performed by the prosthesis and to predict motions Beweg(MA′(t)), dependent on the model MA′(t), of the prosthetic links for a time period [t, t+Δt];
• and
• a control unit to derive control signals Sig(t) that the actuators and control/regulate the actuators based on the control signals Sig(t), 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.