Biosleeve human-machine interface
AssigneeCalifornia Institute of Technology
InventorChristopher Assad
Life of this patent
Estimating the term…
Abstract
Systems and methods for sensing human muscle action and gestures in order to control machines or robotic devices are disclosed. One exemplary system employs a tight fitting sleeve worn on a user arm and including a plurality of electromyography (EMG) sensors and at least one inertial measurement unit (IMU). Power, signal processing, and communications electronics may be built into the sleeve and control data may be transmitted wirelessly to the controlled machine or robotic device.
Claims18
An apparatus for sensing user input, comprising:
- an elastic material for fitting tightly to a body portion of a user, the body portion having underlying muscles of the user;
- an array of electromyography (EMG) sensors disposed in the elastic material to be proximate to the underlying muscles of the user in order to sense activity of the underlying muscles and yield EMG electrical signals therefrom;
- a plurality of inertial measurement units (IMUs) each disposed on a separately moving portion of the user for determining position and orientation of each of the plurality of inertial measurement units (IMUs) in order to sense differential movement between body parts and yielding corresponding IMU data, each IMU providing nine-axis measurements, three for gyrometers, three for accelerometers and three for magnetic field vector;
- a processor for receiving the EMG electrical signals and the IMU data and deriving control data for a robotic device;
- and
- a power supply powering the processor and the plurality of IMUs.
A method for sensing user input, comprising:
- fitting an elastic material tightly to a body portion of a user, the body portion having underlying muscles of the user, and an array of electromyography (EMG) sensors disposed in the elastic material to be proximate to the underlying muscles of the user;
- sensing activity of the underlying muscles with the array of EMG sensors to yield EMG electrical signals therefrom;
- determining position and orientation of each of a plurality of inertial measurement units (IMUs) each disposed on a separately moving portion of the user in order to sense differential movement between body parts and yielding corresponding IMU data each IMU providing nine-axis measurements, three for gyrometers, three for accelerometers and three for magnetic field vector;
- deriving control data for a robotic device with a processor from the EMG electrical signals and the IMU data;
- and
- powering the processor and the one or more IMUs with a power supply.
An apparatus for sensing user input, comprising:
- a plurality of muscle activity sensing means for sensing activity of underlying muscles of a body portion of a user and yielding electrical signals therefrom, the plurality of sensor means disposed in an array;
- a plurality of inertial sensing means for determining position and orientation of each of the plurality of inertial sensing means, each inertial sensing means disposed on a separately moving portion of the user, in order to sense differential movement between body parts and yielding corresponding inertial data, each inertial sensing means providing nine-axis measurements, three for gyrometers, three for accelerometers and three for magnetic field vector;
- a processing means for deriving control data for a robotic device from the electrical signals and the inertial data;
- and
- a supply means for powering the processing means and the plurality of inertial sensing means.
Dependencies are inferred from the claim text.