Coordinating operation of multiple lower limb devices

摘要

Systems and methods for operating autonomous lower limb devices, including at least one adjustable joint and configured for at least supporting a body are provided. A method includes collecting real-time sensor information associated with the autonomous lower limb device. The method also includes receiving, over a communications link, remote data for at least one other lower limb device configured for supporting the body. The method further includes generating control data for transitioning the autonomous lower limb device from a current state in a current finite state model for operating the autonomous lower limb device to a different state in the current finite state model, where the different state is selected based on the real-time sensor information and the remote data.

主权项

1. An autonomous leg prosthesis for a lower limb of a body, comprising:
at least one adjustable joint; at least one sensor for collecting real-time sensor information for the autonomous leg prosthesis; a communications device; and a first control system communicatively coupled to the at least one sensor, the adjustable joint, and the communications device, the first control system comprising a processor and a computer-readable medium, having stored thereon instructions for causing the processor to perform the steps of:
generating first control data for the communications device to establish a communications link with a second leg prosthesis associated with another lower limb of the body contralateral to the lower limb and having a second control system operating independently of the first control system;receiving, over the communications link, remote data for the second leg prosthesis, the remote data comprising state information for a second finite state model used by the second control system for operating the second leg prosthesis;generating second control data for transitioning the autonomous leg prosthesis from a current state in a first finite state model for operating the autonomous leg prosthesis to a different state in the first finite state model, wherein the different state is selected based on the real-time sensor information and the remote data, wherein the second control data further comprises instructions to transition the autonomous leg prosthesis to a non-weight bearing state only if the state data in the remote data indicates that the second leg prosthesis is in a weight bearing state.