Identification and implementation of locomotion modes using surface electromyography

摘要

Apparatus and methods are provided for determining a locomotion mode that can be provided to a controller of a lower prosthesis limb in order to accurately control the prosthesis. One or more prosthesis sensors are provided that break a gait cycle down into a plurality of gait phases. EMG sensors provide signals to a processor that directs them to a gait phase specific classifier that is used to determine a particular locomotion mode for the wearer. With the locomotion mode accurately known, the prosthetic device can be accurately controlled.

主权项

1. A lower-limb prosthesis operating assembly, comprising:
(a) one or more prosthesis sensors, each one for measuring one or more prosthesis characteristics and for providing signals corresponding to values of the prosthesis characteristics at a prosthesis sensor output; (b) a plurality of EMG sensors for receiving non-stationary EMG signals; (c) a processor comprising:
(i) one or more processor inputs, configured to be connected to one or more of (1) a prosthesis sensor output, for receiving one or more prosthesis characteristic value signals, and (2) an EMG sensor, for receiving EMG signals;(ii) a gait phase means for determining a gait phase, a gait phase information relating to the gait phase, based on the prosthesis characteristic values; and(iii) a means for determining a locomotion mode based on the EMG signals received during a phase window of a gait cycle and the gait phase information; and (d) a locomotion mode output that provides a signal corresponding to the determined locomotion mode at the determined gait phase to a prosthesis controller input.