PROSTHETIC AND ORTHOTIC DEVICES AND METHODS AND SYSTEMS FOR CONTROLLING THE SAME

摘要

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.

主权项

1. A control system for controlling a motorized prosthetic or orthotic device (POD) that is actuatable about a joint, the control system comprising:
a first inertial measurement unit (IMU) associated with a first segment of a user and configured to collect a first set of data, wherein the first set of data includes one or more measurements of at least one of a vertical displacement of the first segment, a horizontal displacement of the first segment, a torque associated with the first segment, and an absolute angle of the first segment with respect to gravity; a second IMU associated with a second segment of the POD and configured to collect a second set of data, wherein the second set of data includes one or more measurements of at least one of a vertical displacement of the second segment, a horizontal displacement of the second segment, a torque associated with the second segment, an absolute angle of the second segment with respect to gravity, and a net torque between the first segment and the second segment; and an inference layer in communication with the first IMU and the second IMU and configured to:
receive the first set of data from the first IMU and the second set of data from the second IMU, andidentify a locomotion activity of the user based on at least the first set of data and the second set of data.