Control device and system for controlling an actuated prosthesis

A method for determining a portion of locomotion and a phase of locomotion in view of controlling an actuated prosthesis in real time using a plurality of main artificial proprioceptors, the method comprising:

• receiving a data signal from each of a plurality of main artificial proprioceptors;
• determining a first and a second derivative signal for at least some of the data signals;
• determining a third derivative signal for at least one of the data signals;
• selecting, using a plurality of first state machines executing on a computing device, a state among a plurality of possible states for each main artificial proprioceptor with the corresponding data and derivative signals;
• generating a phase of locomotion using the states of the main artificial proprioceptors;
• and
• selecting, using a second state machine, a portion of locomotion among a plurality of possible portions of locomotion using events associated with the data signals.

A device for determining a portion of locomotion and a phase of locomotion in view of controlling an actuated prosthesis in real time using a plurality of main artificial proprioceptors, the device comprising:

• a data signal input for each of a plurality of main artificial proprioceptors;
• a processing module executing on a computing device, wherein the processing module is configured to determine a first and a second derivative signal for at least a portion of the data signals and to determine a third derivative signal for at least one of the data signals;
• and
• a plurality of state machines comprising,
• at least one first state machine configured to select one state among a plurality of possible states for each of the main artificial proprioceptors having corresponding data and derivative signals, wherein the processing module is further configured to generate a phase of locomotion using the selected states of the main artificial proprioceptors, and
• a second state machine configured to select a portion of locomotion among a plurality of possible portions of locomotion using events associated with the data signals.