Prosthetic and orthotic devices and methods and systems for controlling the same
AssigneeOssur Hf
InventorsDavid Langlois, Matheson Rittenhouse, Yves Roy
Life of this patent
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Abstract
Prosthetic and/or orthotic devices (PODS), control systems for PODS and methods for controlling PODS are provided. As part of the control system, an inference layer collects data regarding a vertical and horizontal displacement of the POD, as well as an angle of the POD with respect to gravity during a gait cycle of a user of the POD. A processor analyzes the data collected to determine a locomotion activity of the user and selects one or more control parameters based on the locomotion activity. The inference layer may be situated between a reactive layer control module and a learning layer control module of the control system architecture.
Claims22
A method for controlling a motorized prosthetic or orthotic device (POD) of a user, wherein the POD comprises a thigh segment including a joint member and a shank segment coupled with the thigh segment via the joint member, the method comprising:
- receiving acceleration signals corresponding to acceleration along three orthogonal axes from one or more accelerometers coupled to the POD;
- determining a difference between a first absolute angle of the thigh segment at a foot-off event and a second absolute angle of the thigh segment at a foot strike event;
- determining a relative vertical displacement of the POD between the foot-off event and the foot strike event based at least on a combination of a double integration of the acceleration signals, the first absolute angle of the thigh segment, and the second absolute angle of the thigh segment;
- determining a current type of locomotion of the user based on the determined relative vertical displacement;
- and
- transmitting information relating to the current type of locomotion to an actuator control.
Dependencies are inferred from the claim text.