Importance

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Abstract

The present invention relates to improved controllers for externally powered prosthetic limb devices or similar extension devices such as orthotic devices or a sensor probe device. The improved controller operates a highly-efficient, compact, reliable and low-maintenance tactile force feedback system for translating a sensed pressure force from a prosthesis contacting an object or surface into a tactile sensory feedback pressure force to the user. The tactile force feedback system comprises at least one contact-responsive transducer which translates a sensed contact pressure from a portion of an extension device which contacts an object or surface into a corresponding electrical signal. The electrical signal is received by a microprocessor and processed into a proportional output voltage for producing a proportional torque from a motor. The motor is connected to a backdrivable planetary gearbox having a rotatable shaft connected to one end of a lever such that the gearbox output causes the lever to move in an arc segment. The opposite end of the lever has an attached tip member positioned to contact, and slightly depress, the user's skin when the shaft is forwardly rotated. The contact pressure of the tip member is, thus, applied to the user's skin with a contact pressure force proportional to the contact pressure force sensed by the contact-responsive transducer. In addition, the improved controller may permit the user to initiate self-calibration of various selected user-dependent operating parameters whenever desired and an adaptive filter for permitting user control of the rate of movement of the device such that smooth and steady control of either slow or more rapid prosthesis movement is achieved. The improved controller may also recognize multiple trigger patterns from signal input generated from either a single or from multiple control sites to effect switching between modes of operation, i.e., degrees of freedom, and/or functions.

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First Claim