Control device and system for controlling an actuated prosthesis
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United States of America Patent
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Jan 11, 2011
Issued Date -
N/A
app pub date -
Nov 9, 2005
filing date -
Aug 22, 2002
priority date (Note) -
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Abstract
A method and a control system are used for determining a portion of locomotion and a phase of locomotion portion in view of controlling an actuated prosthesis in real time. The method comprises receiving a data signal from a plurality of main artificial proprioceptors, obtaining a first and a second derivative signal for each data signal, obtaining a third derivative signal for at least one of the data signals, using a set of first state machines to select one state among a plurality of possible states for each artificial proprioceptor with the corresponding data and derivative signals, generating the phase of locomotion portion using the states of the main artificial proprioceptors; and using a second state machine to select the portion of locomotion among a plurality of possible portions of locomotion using events associated to the data signals. It is particularly well adapted for an actuated, above-knee leg prosthesis.
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