Source: http://www.google.es/patents/US8801802
Timestamp: 2018-01-19 23:47:28
Document Index: 125149144

Matched Legal Cases: ['Application No. 2003236750', 'arts 1', 'art 2', 'Application No. 200580008119', 'Application No. 2001', 'Application No. 200680011678']

Patente US8801802 - System and method for data communication with a mechatronic device - Google Patentes
Embodiments include a system for controlling motion of a human limb. The system may include a plurality of mechatronic devices, each of which may be in communication with at least one other of the plurality of mechatronic devices. Each of the mechatronic devices includes one or more of a processor, an...http://www.google.es/patents/US8801802?utm_source=gb-gplus-sharePatente US8801802 - System and method for data communication with a mechatronic device
Número de publicación US8801802 B2
Número de solicitud US 11/355,058
Fecha de presentación 15 Feb 2006
Fecha de prioridad 16 Feb 2005
También publicado como US20060184252, US20150032225
Número de publicación 11355058, 355058, US 8801802 B2, US 8801802B2, US-B2-8801802, US8801802 B2, US8801802B2
Inventores Magnús Oddsson, Arinbjörn V. Clausen
Cesionario original össur hf
Citas de patentes (461), Otras citas (209), Citada por (11), Clasificaciones (13), Eventos legales (4)
System and method for data communication with a mechatronic device
US 8801802 B2
1. A mechatronic system attachable to a human body, the system comprising:
a prosthetic joint;
at least one sensor configured to gather data regarding a motion parameter of the prosthetic joint;
an actuator configured to control movement of the prosthetic joint;
a memory storing a first set of instructions for controlling the actuator based on the sensor data;
a communication interface configured to communicate data with a data source external to the prosthetic joint, the communicated data comprising a second set of instructions for controlling the actuator based on the sensor data; and
a processor configured to execute the stored first set of instructions, execution of the first set of instructions causing the processor to determine a first actuator control command based on the sensor data that controls movement of the prosthetic joint according to a first activity, the processor further being configured to receive and execute the second set of instructions, execution of the second set of instructions causing the processor to determine a second actuator control command based on the sensor data that controls movement of the prosthetic joint according to a second activity, the first actuator control command being different than the second actuator control command, and the first activity being different than the second activity, wherein the memory is further configured to store the second set of instructions, wherein the stored second set of instructions replaces the stored first set of instructions in the memory.
2. The mechatronic system of claim 1, wherein the prosthetic joint is a lower limb prosthetic joint.
3. The mechatronic system of claim 1, wherein each of the first activity and the second activity is one of the following: bicycling, jogging, hiking, swimming, throwing, jumping, or movement over a particular terrain.
4. The mechatronic system of claim 1, wherein the communicated data further comprises diagnostic information of the mechatronic system sent to the data source.
5. The mechatronic system of claim 1, wherein the communication interface is configured to transmit data to the data source and receive data from the data source.
6. The mechatronic system of claim 1, wherein the first set of instructions comprises a first state machine module.
7. The mechatronic system of claim 6, wherein the first state machine module comprises at least one of: sub-routines, procedures, definitional statements, and macros.
8. The mechatronic system of claim 1, wherein the first set of instructions comprises code written in a computer language that has been compiled and is capable of being executed by the processor.
9. The mechatronic system of claim 1, wherein the data source comprises a computing device.
10. The mechatronic system of claim 9, wherein the computing device comprises a mobile telephone, a personal digital assistant or a mobile computer.
11. The mechatronic system of claim 1, wherein the communication interface is at least one of a wired network interface or a wireless network interface.
12. The mechatronic system of claim 11, wherein the communication interface is configured to communicate data using an internet protocol.
13. The mechatronic system of claim 1, wherein the data source stores the second set of instructions for controlling the actuator based on the sensor data.
14. The mechatronic system of claim 1, wherein the data source comprises a server.
15. The mechatronic system of claim 1, wherein the actuator is configured to dampen movement.
16. The mechatronic system of claim 1, wherein the actuator is configured to actively adjust an angle between a first limb member and a second limb member.
17. A mechatronic system comprising:
a communication interface configured to communicate with a data source external to the prosthetic joint; and
a processor configured to execute the stored first set of instructions, execution of the first set of instructions causing the processor to determine a first actuator control command based on the sensor data that controls movement of the prosthetic joint according to a first activity; and
a data source external to the prosthetic joint containing a second set of instructions for controlling the actuator based on the sensor data, wherein the communication interface is configured to communicate with the data source to receive the second set of instructions;
wherein the memory is further configured to store the second set of instructions; and
wherein the processor is further configured to receive and execute the second set of instructions and replace the first set of instructions in the memory with the second set of instructions, execution of the second set of instructions causing the processor to determine a second actuator control command based on the sensor data that controls movement of the prosthetic joint according to a second activity, the first actuator control command being different than the second actuator control command, and the first activity being different than the second activity.
18. The mechatronic system of claim 17, wherein the prosthetic joint is a lower limb prosthetic joint.
19. The mechatronic system of claim 17, wherein the data source comprises a network computing device selected from the group consisting of a server computer, a personal computer, a mobile computer, a personal digital assistant and a mobile telephone.
20. The mechatronic system of claim 17, wherein the data source comprises another prosthetic device.
21. The mechatronic system of claim 17, wherein the data source comprises a first computing device that is configured to communicate with a second computing device over a network.
This application is also related to U.S. patent application Ser. No. 11/355,047 filed on even date and incorporated by reference its entirety.
FIG. 1A is a simplified schematic view of a lower limb prosthetic assembly with an electronically controlled prosthetic knee illustrating features and advantages in accordance with an embodiment of the invention.
FIGS. 1B-1E are simplified perspective views of a prosthetic knee assembly illustrating features and advantages in accordance with an embodiment of the invention.
FIG. 1F is a block diagram that illustrates one embodiment of a system including a number of mechatronic devices.
FIG. 2 is a block diagram illustrating in more detail one embodiment of a mechatronic device in communication with additional devices in one embodiment of the system of FIG. 1F.
FIG. 4A is a schematic block diagram of an exemplary embodiment of the system of FIG. 1F that includes a prosthetic knee and a prosthetic ankle.
FIG. 4B is a schematic block diagram of an exemplary embodiment of the system of FIG. 1F that includes a prosthetic knee and a prosthetic foot.
FIG. 4C is a schematic block diagram of another exemplary embodiment of the system of FIG. 1F that includes a prosthetic knee, a prosthetic foot, and a master device.
FIG. 4D is a schematic block diagram of another exemplary embodiment of the system of FIG. 1F that includes a prosthetic knee and a prosthetic foot in which the prosthetic foot includes one or more state machines for controlling both devices.
The term “mechatronic” as used herein is a broad term and is used in its ordinary sense and refer to, without limitation, any system, device or apparatus that includes an electronically controlled device associated with a limb, including a prosthetic or orthotic device. Such devices may include one or more of a sensor, an actuator, or processor.
FIG. 1A is a schematic illustration of an embodiment of a lower limb prosthetic assembly, system or prosthesis 1 including an electronically controlled active knee prosthetic assembly, system or prosthesis 10. As described in greater detail later herein, advantageously, the knee prosthesis 10 provides resistive forces to substantially simulate the position and motion of a natural knee joint during ambulation and/or other locomotory or stationary activities performed by an amputee. The prosthetic or artificial knee 10 is desirably safe, reliable and generally comfortable to use by the amputee.
The prosthetic lower limb 1 further includes an artificial or prosthetic foot 2 coupled or mechanically connected to a pylon, tube, shaft or shank portion 4 that connects to a distal or bottom portion of the prosthetic knee 10 and a residual limb or stump socket 6 that connects to a top or proximal end of the prosthetic knee 10. The stump socket 6 receives a residual limb or femur portion 8 of the amputee. A suitable pylon or the like can also be provided between the stump socket 6 and the prosthetic knee 10, as needed or desired.
Embodiments of the invention van be practiced with a wide variety of prosthetic feet. These include Flex-Foot® feet such as Ceterus™, LP Ceterus™, Vari-Flex®, LP Vari-Flex®, Talux® and Elation™. Some embodiments of suitable prosthetic feet and associated devices are disclosed in U.S. Pat. No. 5,181,932, issued Jan. 26, 1993, U.S. Pat. No. 5,181,933, issued Jan. 26, 1993, U.S. Pat. No. 5,728,177, issued Mar. 17, 1998, U.S. Pat. No. 5,766,265, issued Jun. 16, 1998, U.S. Pat. No. 5,800,569, issued Sep. 1, 1998, U.S. Pat. No. 6,511,512, issued Jan. 28, 2003, U.S. Patent Application Publication No. 2003/0093158, published May 15, 2003, U.S. patent application Ser. No. 10/642,125, filed Aug. 15, 2003, U.S. patent application Ser. No. 10/674,736, filed Sep. 30, 2003, and U.S. patent application Ser. No. 10/742,455, filed Dec. 18, 2003, the entirety of each one of which is hereby incorporated by reference herein.
The prosthetic knee 10 generally comprises a variable-torque magnetorheological (MR) actuator assembly or braking system 12 and a frame and electronics assembly or system 14 that also serves as a mount for the knee actuator 12 and facilitates in monitoring and controlling the operation of the knee actuator 12. The prosthetic knee system 10 desirably provides resistive forces to substantially simulate the position and motion of a natural knee joint during ambulation and/or other locomotory activities performed by the amputee.
Advantageously, the prosthetic knee 10 of embodiments of the invention permits the amputee to move and/or adapt comfortably and safely in a wide variety of circumstances. For example, during walking, running, sitting down, or when encountering subtle or drastic changes in the terrain, topography and environment or ambient conditions, such as, when the user lifts a suitcase or walks down a slope or encounters stairs, among others.
The prosthetic knee 10 provides stance control to limit buckling when weight is applied to the limb. In addition, the prosthetic knee 10 provides aerial swing control so that the knee reaches full extension just prior to or at heel-strike in a smooth and natural manner. Moreover, the prosthetic knee 10, by adjusting and/or fine tuning the range and/or magnitudes of the resistive torque level, can be adapted for use with a wide variety of patients having different body weights, heights and activity levels.
The prosthetic knee assembly 10 of embodiments of the invention has particular efficacy when used in conjunction with a trans-femoral (above-knee, A/N) amputee. In modified embodiments, the prosthetic knee joint 10 may be efficaciously adapted for use with a knee-disarticulation (K/D) amputee wherein the amputation is through the knee joint, as needed or desired.
FIGS. 1B-1E show a system overview of the prosthetic knee assembly 10 generally comprising the magnetorheological actuator assembly or system 12 and the frame and electronics assembly or system 14. The frame and electronics assembly 14 also provides power and communicates with the actuator assembly 12 via electrical signals.
Users of prosthetic or orthotic devices often may need more than one device. For example, a trans-femoral amputee may require a combination of a mechatronic knee and a mechatronic ankle or foot. Typically, more natural movement may be achieved when these devices are coordinated. Where two or more of these devices are electronically controlled devices, improved coordination, e.g., from a more natural motion, can be achieved by electronic interface and coordination between the devices. FIG. 1F is a block diagram that illustrates one embodiment of a system 100 which includes multiple mechatronic devices. In one embodiment, a particular mechatronic device includes one or more sensors, a controller, and one or more actuators. However, it is to be recognized that in other embodiments a particular mechatronic device may include, for example, only sensors, sensors and a controller, one or more actuators, actuators and a controller, or only a controller. In one embodiment, the system may include a master device 112. In one embodiment, the master device 112 directs control of the entire system 100. In one embodiment, the master device 112 is a mechatronic device that has a control system which incorporates a state machine. The master device 112 may fully or partially control a slave device 114. Information on state changes or direct actuation commands may be sent to components of the system 100, such as the slave device 114. Embodiments of each of the devices in the system 100 may include prosthetic knees, prosthetic ankles, or other electronically controlled prosthetic or orthotic devices. For example, an orthotic device such as a brace may include a sensor for measuring knee motion.
Each of the devices 112, 114, 116, and 118 of the system 110 may communicate using a bionic data bus (BDB) 120. The BDB 120 may comprise any data communications physical layer, including those known in the art. For example, the BDB 120 may include one or more of the following communications layers: a remote modem, Ethernet (IEEE 802.3), Token Ring (IEEE 802.5), Fiber Distributed Datalink Interface (FDDI) Asynchronous Transfer Mode (ATM), Wireless Ethernet (IEEE 802.11), Bluetooth (IEEE 802.15.1), or infrared interfaces including IRDA. The BDB may also include a peripheral interface bus including Universal Serial Bus (USB), IEEE 1394, Peripheral Component Interconnect (PCI), or other peripheral buses such as those known in the art. In addition, the BDB 120 may include networks such as an Intranet, a Local Area Networks (LAN), a Wide Area Network (WAN), or the Internet. The BDB 120 may include additional protocols such as interne protocol (IP) or transmission control protocol (TCP).
After exchanging identifying data over the BDB 120, the knee may configure itself to operate as the master device 112, the ankle may configure itself to operate as a slave device 114, and the wrist monitor to configure itself as an observation device 116. In another embodiment of the system 100 that includes only the ankle and the wrist monitor, the ankle may configure itself as the master device 112 and the monitor as the observation device 116.
The master devices 112 may communicate over the BDB 120 to share data or otherwise coordinate operation of the system 100. In one such embodiment, each of, e.g., arm and leg mechatronic devices may operate as the master device 112 with respect to a group of devices. For instance, the knee may operate as the master device 112 with respect to an ankle prosthesis and a shoulder mechatronic device may act as a master device 112 to an elbow slave device 114. Continuing with this exemplary embodiment, with respect to knee master device 112, the ankle may operate as a slave device 114.
Each of the modules 210, 212, 214, 216, and 218 may communicate via any suitable method such as are known in the art. In one embodiment, the modules may communicate using shared data structures such as are described in U.S. Patent Publication No. 2005-0283257, filed on Mar. 9, 2005, which was previously incorporated herein. In one embodiment, the shared data structure may include portions that are available for access through the bionic data bus module 218 to other devices 204 and 206 in the system 100. In such an embodiment, portions of the data in the shared structure may be communicated on the BDB 120.
The hardware abstraction module 212 typically includes low level, hardware specific code that provides a standardized interface to the hardware by other software modules. The hardware abstraction module 212 may abstract hardware such as sensors and actuators. The hardware abstraction module 212 thus allows other software, such as the state machine module 210 to be reused with different sensors so long as the sensors each provide data that the hardware abstraction module 212 can represent in a standardized form. For example, a particular sensor may provide data via setting the value of a hardware register. Another sensor for producing equivalent data may signal the processor via an interrupt when the data is updated. The hardware abstraction layer 212 can be configured to read either sensor and provide the data using a uniform interface so that other software layers do not need to be modified if the particular sensor changes. This may be particularly desirable in the system 100 having multiple mechatronic devices 202, 204, 206. For example, an ankle mechatronic device 202 may be configured to receive a sensor value, e.g., a knee angle, from different types and models of prosthetic knees 204. Continuing this example, the hardware abstraction layer 212 of the ankle device 202 may provide, in one embodiment, a knee angle that is updated every 5 milliseconds regardless of whether the sensor is configured to be polled by the processor to receive updates or whether the sensor signals the processor via, e.g., an interrupt channel. The hardware abstraction layer 212 may also be configured to provide the knee angle value that is upsampled or downsampled to a consistent, accurate value regardless of the sensor resolution. For example, the knee angle value may be represented with a value having a resolution of 8 bits, 10 bits or higher. Moreover, the interface to the data may be the same regardless of whether the data is coming from the same mechatronic device 202 or other mechatronic devices 204, 206.
In one embodiment, the abstraction module 212 controls one or more actuators in a mechatronic system 100. In one embodiment, this comprises applying damping through an actuator in, e.g., a prosthetic knee. In one embodiment, at least a portion of the abstraction module 212 executes at a frequency that is different from the execution rate of the state machine or learning modules 210 and 214. For example, in one embodiment the low level abstraction module 212 executes with a period of 1 millisecond (ms) while the higher level code of the state machine executes with a period of 5 ms.
Since the values from the force sensors (bending moment in the knee frame) are translated into toe- and heel load values, the alignment of the foot and especially the angle of the ankle 404 should be determined. During setup, certain ranges and threshold values may be set for the knee 402. If the alignment is changed considerably after the initial setup, the knee 402 can misinterpret the information from the force sensors. The functionality of an electronically adjusted ankle 404 typically causes just such a change in alignment.
In addition, the use of data by the knee 402 from the ankle 404 can provide additional functionality to the system 100. For example, the angle value of the ankle 402 can be made accessible to the knee 404 through the parameter channel 232 of the BDB 120. Also if the ankle is offset by some degree (for use with high heels, for example), the knee 402 may use the information to further compensate for the force sensor measurements. The offset value can be communicated over the parameter channel 232.
FIG. 4B is a schematic block diagram of an exemplary embodiment of the system of FIG. 1F that includes a prosthetic knee 402 and a prosthetic foot 406. In one embodiment, the knee 402 and the foot 406 each include a data communications or network interface such as an RS-232 port that are in communication with each other to define the BDB 120. In another embodiment, the BDB 120 may be implemented via RS-485 ports on each of the devices 402 and 406. In one embodiment, the prosthetic foot 406 includes a joint that allows the foot to adjust to different grades of slopes. As a result, the response from the foot 406 will differ from prosthetic feet with a fixed ankle. In one embodiment, the knee 402 is controlled based on force measurements that are translated into bending moments. From the moment values, the knee 402 manages state changes and adjusts the resistance of the knee based on whether the knee 402 is on level ground, on different grades of slopes, or on stairs.
Data may be communicated between the foot 406 and the knee 402 using any suitable protocol such as discussed above with reference to the BDB in FIG. 1F. For example, in one embodiment, sensor and control data may be communicated as a string of characters over the RS-232 link. In one embodiment, in each program cycle of the knee 402, the knee reads the serial port, parses the string and filters out the angle value. The angle value is then translated into a correction value for a slope detection routine.
FIG. 4C is a schematic block diagram of another exemplary embodiment of the system of FIG. 1F that includes a prosthetic knee 402, a prosthetic foot 406, and a master device 408 operating as a master device 112. The master device 408 may include any electronic device configured to receive sensor data from each of the knee 402 and the foot 406 and provide control signals to the knee 402 and the foot 406 based on that sensor data.
FIG. 4D is a schematic block diagram of another exemplary embodiment of the system of FIG. 1F that includes a prosthetic knee 402 and a prosthetic foot 406 in which the prosthetic foot 406 operates as the master device 112. In such an embodiment, the controller of the foot 406 may include one or more state machines for controlling both devices.
The network interface 342 provides network connectivity to one or more computing devices, including the mechatronic devices 202 and 204, via the networks 350 and 352. In one embodiment, the network interface 342 to the networks 350 and 352 includes one or more of, for example, a remote modem, Ethernet (IEEE 802.3), Token Ring (IEEE 802.5), Fiber Distributed Datalink Interface (FDDI) Asynchronous Transfer Mode (ATM), Wireless Ethernet (IEEE 802.11), Bluetooth (IEEE 802.15.1), or infrared interfaces including IRDA. The network 350 may include networks such as the Internet, an intranet, Local Area Networks (LAN) or Wide Area Networks (WAN). As used herein, the networks 350 and 352 may include network variations such as the public Internet, a private network within the Internet, a secure network within the Internet, a private network, a public network, a value-added network, an intranet, and the like. In one embodiment, the network 350 includes the network 352.
The processor 344 may be any suitable general purpose single- or multi-chip microprocessor such as an ARM, Pentium®, Pentium II®, Pentium III®, Pentium IV®, Pentium® Pro, an 8051, a MIPS®, a Power PC®, an ALPHA®, or any other suitable processor. In addition, the processor 344 may comprise any suitable special purpose microprocessor such as a digital signal processor or a programmable gate array.
In one embodiment, the mechatronic device 202 includes a storage card interface 366 to a removably connected memory. The storage card interface 366 may include an interface to a removable storage card that includes semiconductor storage (chips), for example, Random Access Memory (RAM) or various forms of Read Only Memory (ROM), that are removablely connected to the processor 344. Removably connected memory may include memory on any standardized or proprietary device such as a memory card, a secure digital memory card, a memory stick, or any other suitable removable memory device. In one embodiment, the storage card interface 366 is configured to interface the processor solid state persistent memory such as FLASH memory or magnetoresistance RAM (MRAM). In one embodiment, the memory includes a disk drive, e.g., a magnetic, optical, or magneto-optical drive.
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Clasificación de EE.UU. 623/27, 623/40, 623/24
Clasificación internacional A61F2/68, A61F2/60
Clasificación cooperativa A61F2002/7685, A61F2002/7625, A61F2002/705, A61F2/50, A61F2/60, A61F2002/704, A61F2/68, A61F2002/7635
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