GB2201260A - A method of control of a mechanised artificial limb - Google Patents

A method of control of a mechanised artificial limb Download PDF

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Publication number
GB2201260A
GB2201260A GB08702773A GB8702773A GB2201260A GB 2201260 A GB2201260 A GB 2201260A GB 08702773 A GB08702773 A GB 08702773A GB 8702773 A GB8702773 A GB 8702773A GB 2201260 A GB2201260 A GB 2201260A
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United Kingdom
Prior art keywords
leg
mechanised
computer
artificial
angular position
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB08702773A
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GB8702773D0 (en
GB2201260B (en
Inventor
Christopher Charles Box
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Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to GB8702773A priority Critical patent/GB2201260B/en
Publication of GB8702773D0 publication Critical patent/GB8702773D0/en
Publication of GB2201260A publication Critical patent/GB2201260A/en
Application granted granted Critical
Publication of GB2201260B publication Critical patent/GB2201260B/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control

Abstract

An arrangement of angular position transducers connected by bars is attached to the remaining leg, such that the angular position transducers can then provide to the computer the angles those joints are making with the bars. The computer can then build a "picture" of the current position of the remaining leg. The computer can then use this "picture" to decide what the position of the mechanised artificial leg should be, and issue the relevant commands to place the mechanised artificial leg in this position. <IMAGE>

Description

A METHOD OF CONTROL OF A MECHANISED ARTIFICIAL LEG This invention relates to the control of a mechanised artificial leg.
Artificial limbs are currently widely used as a result of the loss of a limb. Artificial legs are quite limited in the degree of manoeuvrabilitytheygive to the wearer. The development of powered artificial limbs seem to be currently hampered by the lack of a suitable method of control. The movement of the original leg that was lost and is now replaced by the artificial was independant, yet inherently linked to the movement of the other leg, this fact can be used to decide what movement the mechanised artificial leg should make based upon what movement the remaining leg is actually making.
The idea is to be used with a person who has lost a part of a leg from above the knee, however a smaller version could be made if the loss was from below the knee.
An arrangement of angular position transducers, connected by bars is attached to the remaining leg, such that the angular position transducers are at the moving joints. The angular position transducers can than provide to the computer the angles those joints are making with the bars. The computer can ten build a "picture" of the current position of the remainting leg.
The commuter can then use this picture to decide what the position of the mechanised artificial leg should be, --e relevant commands to place the mechanlsed artificial le in position.
A specific embodiment of the invention will riow be described by wav of example with reference to the accompanying drawin in wnich:- Figure 1 shows in perspective the angular position transducers, mechanised artificial leg ,and computer in their rest-ective positions.
Referring to the drawing, the leg control invention comprises a set of Angular position transducers 2 connected by the bars 4 and attached to the remaining leg by st'rap 5.
The angular position transducers signal their current position to the computer 3, the motorized artificial leg 1 is then moved to the desired position under control of the computer 3.
All the components are assembled as shown in figure 1. When the remaining leg is moved, the changes in position are passed to the computer. The computer then processes the information and decides what position it thinks the motorized artificial leg should be in. The relevent signals are then generated by the computer in order for the motorized artificial leg to attain the desired position.

Claims (2)

1. An arrangement of angular position transducers, connected
by bars -is'attached to the remaining leg, such that the Angular position transducers are at moving joints.
The angular position tranducers can then provide to the computer the angles those joints are making with the bars The computer can then build a "picture" of the current position of the remaining leg. The computer can then use this picture" to decide what the position of the mechanised artificial leg should be and issue the relevant commands to place the mechanised artificial leg in this position.
2. The method of control of a mechanised artificial leg as described in detail herein with reference to figure 1 of the accompanying drawing.
GB8702773A 1987-02-07 1987-02-07 A method of control of a mechanised artificial leg Expired - Lifetime GB2201260B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB8702773A GB2201260B (en) 1987-02-07 1987-02-07 A method of control of a mechanised artificial leg

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB8702773A GB2201260B (en) 1987-02-07 1987-02-07 A method of control of a mechanised artificial leg

Publications (3)

Publication Number Publication Date
GB8702773D0 GB8702773D0 (en) 1987-03-11
GB2201260A true GB2201260A (en) 1988-08-24
GB2201260B GB2201260B (en) 1991-02-13

Family

ID=10611874

Family Applications (1)

Application Number Title Priority Date Filing Date
GB8702773A Expired - Lifetime GB2201260B (en) 1987-02-07 1987-02-07 A method of control of a mechanised artificial leg

Country Status (1)

Country Link
GB (1) GB2201260B (en)

Cited By (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3932405A1 (en) * 1989-09-28 1991-04-11 Bodenseewerk Geraetetech Control system for neuro-protheses - has inertial sensors coupled to regulating loop for improved control
US5062856A (en) * 1988-03-25 1991-11-05 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5133773A (en) * 1988-03-25 1992-07-28 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5133774A (en) * 1988-03-25 1992-07-28 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
DE4229330A1 (en) * 1992-09-02 1994-03-10 Ludger Springob Limb function restoration using somatronic device - has microchip which responds to detected movement of sound limb to provide signals for stimulating impaired limb
WO1994009727A2 (en) * 1992-10-29 1994-05-11 Brian Andrews Orthosis and prosthesis
WO2004017871A2 (en) 2002-08-22 2004-03-04 Victhom Human Bionics Inc. Positioning of lower extremities artificial proprioceptors
US6908488B2 (en) * 1999-12-17 2005-06-21 Respecta Oy Support device replacing the existence or function of a limb
AU2003250679B2 (en) * 2002-08-22 2006-04-27 Victhom Human Bionics Inc. Positioning of lower extremities artificial proprioceptors
US7066896B1 (en) * 2002-11-12 2006-06-27 Kiselik Daniel R Interactive apparatus and method for developing ability in the neuromuscular system
US7279009B2 (en) 2000-03-29 2007-10-09 Massachusetts Institute Of Technology Speed-adaptive and patient-adaptive prosthetic knee
USRE39961E1 (en) 1996-06-27 2007-12-25 össur hf Computer controlled hydraulic resistance device for a prosthesis and other apparatus
FR2933185A1 (en) * 2008-06-27 2010-01-01 Movea Sa SYSTEM AND METHOD FOR DETERMINING INFORMATION REPRESENTATIVE OF THE MOVEMENT OF AN ARTICULATED CHAIN
US7691154B2 (en) 2004-05-07 2010-04-06 össur hf Systems and methods of controlling pressure within a prosthetic knee
US7736394B2 (en) 2002-08-22 2010-06-15 Victhom Human Bionics Inc. Actuated prosthesis for amputees
US7811334B2 (en) 2004-02-12 2010-10-12 Ossur Hf. System and method for motion-controlled foot unit
US7811333B2 (en) 2004-12-22 2010-10-12 Ossur Hf Systems and methods for processing limb motion
US7815689B2 (en) 2003-11-18 2010-10-19 Victhom Human Bionics Inc. Instrumented prosthetic foot
US7896927B2 (en) 2004-02-12 2011-03-01 össur hf. Systems and methods for actuating a prosthetic ankle based on a relaxed position
US7955398B2 (en) 2003-11-18 2011-06-07 Victhom Human Bionics, Inc. Instrumented prosthetic foot
US8057550B2 (en) 2004-02-12 2011-11-15 össur hf. Transfemoral prosthetic systems and methods for operating the same
US8211042B2 (en) 2007-01-05 2012-07-03 Victom Human Bionics Inc. High torque active mechanism for orthotic and/or prosthetic devices
US20130274894A1 (en) * 2012-03-14 2013-10-17 Vanderbilt Uninersity Coordinating operation of multiple lower limb devices
US8617254B2 (en) 2004-03-10 2013-12-31 Ossur Hf Control system and method for a prosthetic knee
US8852292B2 (en) 2005-09-01 2014-10-07 Ossur Hf System and method for determining terrain transitions
US9066819B2 (en) 2005-04-19 2015-06-30 össur hf Combined active and passive leg prosthesis system and a method for performing a movement with such a system
US9387096B2 (en) 2009-06-17 2016-07-12 Ossur Hf Feedback control systems and methods for prosthetic or orthotic devices
US9707104B2 (en) 2013-03-14 2017-07-18 össur hf Prosthetic ankle and method of controlling same based on adaptation to speed
US9808357B2 (en) 2007-01-19 2017-11-07 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
US9895240B2 (en) 2012-03-29 2018-02-20 Ösur hf Powered prosthetic hip joint
US9925071B2 (en) 2010-09-29 2018-03-27 össur hf Prosthetic and orthotic devices and methods and systems for controlling the same
US9949850B2 (en) 2015-09-18 2018-04-24 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
US20180311054A1 (en) * 2015-10-21 2018-11-01 The Board Of Regents Of The University Of Texas System Method and apparatus for controlling, identifying optimal nerve/muscle monitoring sites for, and training the use of a prosthetic or orthotic device
US10251762B2 (en) 2011-05-03 2019-04-09 Victhom Laboratory Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US10290235B2 (en) 2005-02-02 2019-05-14 össur hf Rehabilitation using a prosthetic device
US10369025B2 (en) 2005-02-02 2019-08-06 Össur Iceland Ehf Sensing systems and methods for monitoring gait dynamics
US10369019B2 (en) 2013-02-26 2019-08-06 Ossur Hf Prosthetic foot with enhanced stability and elastic energy return
US10390974B2 (en) 2014-04-11 2019-08-27 össur hf. Prosthetic foot with removable flexible members
US10543109B2 (en) 2011-11-11 2020-01-28 Össur Iceland Ehf Prosthetic device and method with compliant linking member and actuating linking member
US10575970B2 (en) 2011-11-11 2020-03-03 Össur Iceland Ehf Robotic device and method of using a parallel mechanism
US11007072B2 (en) 2007-01-05 2021-05-18 Victhom Laboratory Inc. Leg orthotic device

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8801802B2 (en) 2005-02-16 2014-08-12 össur hf System and method for data communication with a mechatronic device
US8048172B2 (en) 2005-09-01 2011-11-01 össur hf Actuator assembly for prosthetic or orthotic joint
US9017418B2 (en) 2009-05-05 2015-04-28 össur hf Control systems and methods for prosthetic or orthotic devices
US9017419B1 (en) 2012-03-09 2015-04-28 össur hf Linear actuator

Cited By (66)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5062856A (en) * 1988-03-25 1991-11-05 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5133773A (en) * 1988-03-25 1992-07-28 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5133774A (en) * 1988-03-25 1992-07-28 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5344446A (en) * 1988-03-25 1994-09-06 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase controlled above-knee prosthesis
DE3932405A1 (en) * 1989-09-28 1991-04-11 Bodenseewerk Geraetetech Control system for neuro-protheses - has inertial sensors coupled to regulating loop for improved control
DE4229330A1 (en) * 1992-09-02 1994-03-10 Ludger Springob Limb function restoration using somatronic device - has microchip which responds to detected movement of sound limb to provide signals for stimulating impaired limb
WO1994009727A2 (en) * 1992-10-29 1994-05-11 Brian Andrews Orthosis and prosthesis
WO1994009727A3 (en) * 1992-10-29 1994-07-07 Brian Andrews Orthosis and prosthesis
USRE39961E1 (en) 1996-06-27 2007-12-25 össur hf Computer controlled hydraulic resistance device for a prosthesis and other apparatus
US6908488B2 (en) * 1999-12-17 2005-06-21 Respecta Oy Support device replacing the existence or function of a limb
US7279009B2 (en) 2000-03-29 2007-10-09 Massachusetts Institute Of Technology Speed-adaptive and patient-adaptive prosthetic knee
US7799091B2 (en) 2000-03-29 2010-09-21 Massachusetts Institute Of Technology Control system for prosthetic knee
CN100384391C (en) * 2002-08-22 2008-04-30 维克多姆人体机械公司 Positioning of lower extremities artificial proprioceptors
US7867284B2 (en) 2002-08-22 2011-01-11 Victhom Human Bionics Inc. Control device and system for controlling an actuated prosthesis
AU2003250679B2 (en) * 2002-08-22 2006-04-27 Victhom Human Bionics Inc. Positioning of lower extremities artificial proprioceptors
US9649206B2 (en) 2002-08-22 2017-05-16 Victhom Laboratory Inc. Control device and system for controlling an actuated prosthesis
WO2004017871A3 (en) * 2002-08-22 2004-05-06 Victhom Human Bionics Inc Positioning of lower extremities artificial proprioceptors
US8231687B2 (en) 2002-08-22 2012-07-31 Victhom Human Bionics, Inc. Actuated leg prosthesis for above-knee amputees
US7736394B2 (en) 2002-08-22 2010-06-15 Victhom Human Bionics Inc. Actuated prosthesis for amputees
WO2004017871A2 (en) 2002-08-22 2004-03-04 Victhom Human Bionics Inc. Positioning of lower extremities artificial proprioceptors
US7137998B2 (en) 2002-08-22 2006-11-21 Victhom Human Bionics Inc Positioning of lower extremities artificial proprioceptors
US7066896B1 (en) * 2002-11-12 2006-06-27 Kiselik Daniel R Interactive apparatus and method for developing ability in the neuromuscular system
US7955398B2 (en) 2003-11-18 2011-06-07 Victhom Human Bionics, Inc. Instrumented prosthetic foot
US7815689B2 (en) 2003-11-18 2010-10-19 Victhom Human Bionics Inc. Instrumented prosthetic foot
US7811334B2 (en) 2004-02-12 2010-10-12 Ossur Hf. System and method for motion-controlled foot unit
US7896927B2 (en) 2004-02-12 2011-03-01 össur hf. Systems and methods for actuating a prosthetic ankle based on a relaxed position
US8057550B2 (en) 2004-02-12 2011-11-15 össur hf. Transfemoral prosthetic systems and methods for operating the same
US10195057B2 (en) 2004-02-12 2019-02-05 össur hf. Transfemoral prosthetic systems and methods for operating the same
US8617254B2 (en) 2004-03-10 2013-12-31 Ossur Hf Control system and method for a prosthetic knee
US7691154B2 (en) 2004-05-07 2010-04-06 össur hf Systems and methods of controlling pressure within a prosthetic knee
US7811333B2 (en) 2004-12-22 2010-10-12 Ossur Hf Systems and methods for processing limb motion
US9078774B2 (en) 2004-12-22 2015-07-14 össur hf Systems and methods for processing limb motion
US10369025B2 (en) 2005-02-02 2019-08-06 Össur Iceland Ehf Sensing systems and methods for monitoring gait dynamics
US10290235B2 (en) 2005-02-02 2019-05-14 össur hf Rehabilitation using a prosthetic device
US9717606B2 (en) 2005-04-19 2017-08-01 össur hf Combined active and passive leg prosthesis system and a method for performing a movement with such a system
US9066819B2 (en) 2005-04-19 2015-06-30 össur hf Combined active and passive leg prosthesis system and a method for performing a movement with such a system
US8852292B2 (en) 2005-09-01 2014-10-07 Ossur Hf System and method for determining terrain transitions
US8211042B2 (en) 2007-01-05 2012-07-03 Victom Human Bionics Inc. High torque active mechanism for orthotic and/or prosthetic devices
US11007072B2 (en) 2007-01-05 2021-05-18 Victhom Laboratory Inc. Leg orthotic device
US10405996B2 (en) 2007-01-19 2019-09-10 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
US11607326B2 (en) 2007-01-19 2023-03-21 Victhom Laboratory Inc. Reactive layer control system for prosthetic devices
US9808357B2 (en) 2007-01-19 2017-11-07 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
US10299943B2 (en) 2008-03-24 2019-05-28 össur hf Transfemoral prosthetic systems and methods for operating the same
FR2933185A1 (en) * 2008-06-27 2010-01-01 Movea Sa SYSTEM AND METHOD FOR DETERMINING INFORMATION REPRESENTATIVE OF THE MOVEMENT OF AN ARTICULATED CHAIN
US9387096B2 (en) 2009-06-17 2016-07-12 Ossur Hf Feedback control systems and methods for prosthetic or orthotic devices
US11020250B2 (en) 2010-09-29 2021-06-01 Össur Iceland Ehf Prosthetic and orthotic devices and methods and systems for controlling the same
US9925071B2 (en) 2010-09-29 2018-03-27 össur hf Prosthetic and orthotic devices and methods and systems for controlling the same
US11185429B2 (en) 2011-05-03 2021-11-30 Victhom Laboratory Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US10251762B2 (en) 2011-05-03 2019-04-09 Victhom Laboratory Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US10543109B2 (en) 2011-11-11 2020-01-28 Össur Iceland Ehf Prosthetic device and method with compliant linking member and actuating linking member
US10575970B2 (en) 2011-11-11 2020-03-03 Össur Iceland Ehf Robotic device and method of using a parallel mechanism
US20130274894A1 (en) * 2012-03-14 2013-10-17 Vanderbilt Uninersity Coordinating operation of multiple lower limb devices
US9289317B2 (en) * 2012-03-14 2016-03-22 Vanderbilt University Coordinating operation of multiple lower limb devices
US9895240B2 (en) 2012-03-29 2018-02-20 Ösur hf Powered prosthetic hip joint
US10940027B2 (en) 2012-03-29 2021-03-09 Össur Iceland Ehf Powered prosthetic hip joint
US10369019B2 (en) 2013-02-26 2019-08-06 Ossur Hf Prosthetic foot with enhanced stability and elastic energy return
US11285024B2 (en) 2013-02-26 2022-03-29 Össur Iceland Ehf Prosthetic foot with enhanced stability and elastic energy return
US10695197B2 (en) 2013-03-14 2020-06-30 Össur Iceland Ehf Prosthetic ankle and method of controlling same based on weight-shifting
US11576795B2 (en) 2013-03-14 2023-02-14 össur hf Prosthetic ankle and method of controlling same based on decreased loads
US9707104B2 (en) 2013-03-14 2017-07-18 össur hf Prosthetic ankle and method of controlling same based on adaptation to speed
US10390974B2 (en) 2014-04-11 2019-08-27 össur hf. Prosthetic foot with removable flexible members
US11446166B2 (en) 2014-04-11 2022-09-20 Össur Iceland Ehf Prosthetic foot with removable flexible members
US10722386B2 (en) 2015-09-18 2020-07-28 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
US9949850B2 (en) 2015-09-18 2018-04-24 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
US11707365B2 (en) 2015-09-18 2023-07-25 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
US20180311054A1 (en) * 2015-10-21 2018-11-01 The Board Of Regents Of The University Of Texas System Method and apparatus for controlling, identifying optimal nerve/muscle monitoring sites for, and training the use of a prosthetic or orthotic device

Also Published As

Publication number Publication date
GB8702773D0 (en) 1987-03-11
GB2201260B (en) 1991-02-13

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PCNP Patent ceased through non-payment of renewal fee

Effective date: 19940207