Volitional emg controller for a powered knee prosthesis
OwnerTommaso Lenzi, Suzi Creveling +1inventors
InventorsTommaso Lenzi, Suzi Creveling, Lukas R. Gabert
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Abstract
Disclosed are prosthetic systems comprising a powered knee upper leg prosthesis and a volitional controller configured to provide control of the prosthesis to the user. The prosthetic system may be configured to enable a user to climb a set of stairs. The prosthetic system may be activated by the activation of an EMG signal source, such as the biceps femoris muscle of the upper leg. The volitional controller of the prosthetic system may be further configured to receive a ground state signal and/or an IMU signal to determine a target knee torque for operating the powered knee of the prosthesis.
Claims20
A volitional controller for a powered knee prosthesis, comprising:
- one or more processors;
- and
- one or more hardware storage devices having instructions stored thereon that are executable by the one or more processors to cause the volitional controller to at least:
- receive an electromyography (EMG) signal from a single EMG sensor source;
- receive a ground state signal from a ground reaction force (GRF) sensor;
- determine a target knee torque based on the received EMG signal and ground state signal;
- and
- output a knee torque signal for controlling a powered knee joint of a powered knee prosthesis.
A method for controlling a powered knee prosthesis, comprising:
- receiving an EMG signal from a single EMG sensor source;
- receiving a ground state signal from a ground reaction force (GRF) sensor;
- determining a target knee torque based on the received EMG signal and ground state signal;
- and
- outputting a knee torque signal for controlling a powered knee joint of a powered knee prosthesis.
A powered knee and prosthetic leg system configured to provide volitional control to a user, the system comprising:
- a powered knee prosthesis including a powered knee joint configured to provide a knee torque;
- and
- a volitional controller, comprising:
- one or more processors;
- and
- one or more hardware storage devices having instructions stored thereon that are executable by the one or more processors to cause the volitional controller to at least:
- receive an electromyography (EMG) signal from a single EMG sensor source;
- receive a ground state signal from a ground reaction force (GRF) sensor;
- receive an inertial measurement unit (IMU) signal from an IMU sensor;
- determine a target knee torque based on the received EMG signal, ground state signal, and IMU signal;
- and
- output a knee torque signal for controlling the powered knee joint.
Dependencies are inferred from the claim text.