Patent ID: 7867284

Claim:
A device for determining a portion of locomotion and a phase of locomotion portion in view of controlling an actuated prosthesis in real time using a plurality of main artificial proprioceptors, the device comprising: a data signal input for each of the main artificial proprioceptors; means for obtaining a first and a second derivative signal for at least some of the data signals; means for obtaining a third derivative signal for at least one of the data signals; a set of first state machines, the first state machines being used to select one state among a plurality of possible states for each artificial proprioceptor with the corresponding data and derivative signals; means for generating the phase of locomotion portion using the states of the main artificial proprioceptors; and a second state machine, the second state machine being used to select the portion of locomotion among a plurality of possible portions of locomotion using events associated to the data signals.