CN109475417B - 假肢 - Google Patents

假肢 Download PDF

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CN109475417B
CN109475417B CN201780024623.4A CN201780024623A CN109475417B CN 109475417 B CN109475417 B CN 109475417B CN 201780024623 A CN201780024623 A CN 201780024623A CN 109475417 B CN109475417 B CN 109475417B
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prosthesis
sensor
action
eweg
movement
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CN109475417A (zh
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萨米·哈达丁
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Cavos Bagatelle Verwaltungs GmbH and Co KG
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Abstract

本发明涉及一种用于替代生物体、特别是人的缺失的肢体的假肢，具有：借助致动器(101)驱动的一个或多个假肢区段；检测假肢的当前的状态ZUS(t)的第一传感器(102)；到第二传感器(103)的接口，其检测用于控制缺失的肢体的生物体的生物信号SIGBIO(t)；用于检测数据DUMG(t)的第三传感器(104)，该数据描述假肢的当前的周围环境；预测单元(105)，其基于生物信号SIGBIO(t)、假肢的状态ZUS(t)和数据DUMG(t)来确定待由假肢执行的动作A的模型MA(t)并在时间段[t，t+Δt]内预测取决于模型MA(t)的所述假肢区段的运动Beweg(MA(t))；评价单元(106)，基于按照预设的评价计划对生物信号SIGBIo(t)、状态ZUS(t)、数据DUMG(t)以及预测到的运动Beweg(MA(t))的评价，能够确定离散的决策E，从而通过另一个动作A‘(E)代替动作A，动作A‘(E)限定一个自反和/或保护性的自主控制/受调控的假肢运动，一旦动作A‘(E)不限定这种自反和/或保护性的自主控制/受调控的假肢运动，则通过预测单元(105)确定待由假肢执行的动作A‘的模型MA‘(t)并在时间段[t，t+Δt]内预测取决于模型MA‘(t)的假肢区段的运动Beweg(MA‘(t))；和控制单元(107)，其基于当前有效的预测到的运动Beweg(MA(t))或Beweg(MA‘(t))或者基于自反和/或保护性的自主控制/受调控的运动推导出用于控制致动器的控制信号Sig(t)并且基于该控制信号Sig(t)控制/调节致动器。

Description

假肢
技术领域
本发明涉及一种用于替代生物体、特别是人的缺失的肢体的假肢。该假肢具有借助致动器驱动的假肢区段。
背景技术
目前可用的致动器驱动的假肢，例如手-手臂假肢，需要相当大的花费来购置。此外，这些假肢在其功能方面受限。
发明内容
本发明的目的在于提供一种用于替代生物体、特别是人的缺失的肢体的假肢，该假肢能够成本有效地制造并且具有更广泛的功能性。
本发明可以由独立权利要求的特征得出。有利的扩展方案和设计为从属权利要求的主题。本发明的其他特征、应用可能性以及优点可以由以下的描述以及对本发明的实施例(在附图中示出)的说明中得出。
本发明的目的通过一种用于替代生物体、特别是人的缺失的肢体的假肢得以实现。本发明提出的假肢包括借助致动器驱动的一个或多个假肢区段，其中，近端的假肢区段具有用于将该近端的假肢区段固定在生物体上的机械接口。
该假肢另外还具有第一传感器，其检测假肢的当前的状态ZUS(t)、特别是假肢与周围环境的接触状态。有利的是，该第一传感器包括以下传感器中的一个或多个：用于检测发动机位置和/或发动机转速和/或发动机加速度的关节传感器；用于检测输出轴位置和/或输出轴转速和/或输出轴加速度的输出轴传感器；加速度传感器，例如用于检测假肢的关节的加速度或者假肢关节区段中的加速度、重力加速度、用于固定近端的假肢区段的机械接口的运动和加速度、假肢在残肢上的相对加速度和运动；力传感器，用于确定由单个假肢区段传递到周围环境的力并用于确定由周围环境传递到单个假肢区段的力以及用于确定假肢和假肢佩戴者之间的相互作用力；转矩传感器，用于确定由单个假肢区段传递到周围环境的转矩并用于确定由周围环境传递到单个假肢区段的转矩；触觉传感器，特别是人造皮肤，用于局部地检测作用的力和力矩；温度传感器，用于检测作用在假肢上的温度；湿度传感器，用于检测作用在假肢上的湿度的。有利的是，为了确定机械的关系(力、加速度等)，可以使用所有的传感器(但也可以使用单个传感器)。
该假肢另外还包括到第二传感器的接口，其检测用于控制缺失的肢体的生物体的生物信号SIGBIO(t)。有利的是，第二传感器包括一个或多个肌电图传感器和/或一个或多个脑电图传感器。有利的是，各个第二传感器分别应用在生物体上或植入到生物体内。
该假肢另外还包括用于检测数据DUMG(t)的第三传感器，该数据DUMG(t)描述假肢的当前的周围环境、特别是位于周围环境中的物体和/或其他生物体。有利的是，第三传感器包括以下传感器中的一个或多个：光学传感器(例如相机或视频传感器)、超声传感器、激光传感器等。
该假肢另外还包括预测单元，其基于生物信号SIGBIO(t)、假肢的状态ZUS(t)和数据DUMG(t)来确定待由假肢执行的动作A的模型MA(t)，并且在时间段[t，t+Δt]内预测取决于模型MA(t)的假肢区段的运动Beweg(MA(t))。在最简单的情况下，进行向下一个时间间隔的传递(Tradition für einen
Figure BDA0001834585230000021
Zeitschritt)。这可能是假肢的调节时钟(Regltakte)。预测时间段Δt有利地选择在0.3至30秒的范围内。预测时间段Δt可以有利地根据预测单元中的处理器利用率而变化。有利的是，预测单元被实施和设置为，使得模型MA(t)或MA’(t)的确定作为学习过程而实施，该学习过程基于用于执行动作A/A‘的历史数据自主地学习预测到的假肢区段的运动Beweg(MA(t))/Beweg(MA‘(t))。这样可以还可以顾及到预测的/估计的接触和/或其他多模的信息。
该假肢另外还包括评价单元，基于按照预设的评价计划对生物信号SIGBIO(t)、状态ZUS(t)、数据DUMG(t)以及预测到的运动Beweg(MA(t))的评价，通过评价单元能够确定离散的决策E，从而通过另一个动作A‘(E)代替动作A，其中，动作A‘(E)可以限定一个自反和/或保护性的自主控制/受调控的假肢运动，并且其中，一旦动作A‘(E)不限定这种自反和/或保护性的自主控制/受调控的假肢运动，则通过预测单元确定待由假肢执行的动作A‘的模型MA‘(t)并且在时间段[t，t+Δt]内预测取决于模型MA‘(t)的假肢区段的运动Beweg(MA‘(t))。
有利地，该评价单元实施和设置为，使得与生物信号SIGBIO(t)无关地基于当前的状态ZUS(t)和/或数据DUMG(t)确定用于动作A‘(E)的决策E，该动作A‘(E)限定一个自反和/或保护性的自主的假肢运动。
有利地，该评价单元实施和设置为，使得限定假肢的一个自反和/或保护性的自主运动的动作A‘(E)的决策E在以下情况下触发：
-当假肢区段的当前的运动与预测到的假肢区段的运动Beweg(M(t))或Beweg(MA ‘(t))的偏差大于预设的极限值(该极限值可以使随时间变化的和/或与状态ZUS(t)有关)时，和/或
-当假肢区段的当前的运动偏离学习到的模型时，该学习到的模型观察假肢的标准状态和与标准状态的相应的临界偏差，和/或
-当基于当前的状态ZUS(t)和数据DUMG(t)能够发现之前或目前没有执行或错误地执行待由假肢执行的动作A或A‘(E)(特征例如在于，在假肢错误地抓取一个物体的情况下继续进行动作)时，和/或
-当一个或多个假肢区段无意地与周围环境中的物体发生碰撞时，和/或
-当由假肢的温度传感器检测到的温度达到或超过极限值时，和/或
-当假肢的远端接近物体达到预设的距离或外壳(这特别是用于执行所谓的“标准技能”，例如，(部分)自主的抓取物体、按键的开关的运动、开门、抓取啤酒瓶并送到嘴边等)时，和/或
-当假肢的当前的状态ZUS(t)对应适应于
Figure BDA0001834585230000031
的状态时，其中，Z ZUS，erlaubt表示所有被允许的状态ZUS(t)的集合(ZUS(t)也可以是导出量。因此，可以通过机器学习方法学习任意流形(Mannigfaltigkeiten)、观察者模式(Beboachter)、模型)。
最后，该假肢还包括控制单元，其基于当前有效的预测到的运动Beweg(MA(t))或Beweg(MA‘(t))，或者基于自反和/或保护性的自主控制/受调控的运动推导出用于控制致动器的控制信号Sig(t)，并且基于该控制信号Sig(t)控制/调节致动器。
通过评价SIGBIO(t)、通过使用用来检测假肢的当前的状态ZUS(t)以及假肢的周围环境的状态而引用的传感器并通过建模和预测，本发明提出的假肢实现了更好地并且更自然地控制假肢，其中，该假肢能够执行自主的运动和动作、特别是反身和/或保护性的自主运动。
该假肢的一个有利的扩展方案的特征在于，控制单元具有输入界面，假肢的用户经该输入界面通过输入促使控制单元停止该假肢的任意运动。这实现了假肢的佩戴者在任何时间都可以停止假肢的活动。
该假肢的一个有利的扩展方案的特征在于，控制单元实施和设置用于，在执行一个自反和/或保护性的自主运动之后，基于当前检测到的生物信号SIGBIO(t)和/或根据假肢的用户经控制单元的界面的输入而进行假肢的另一个运动，其中，界面实施和设置用于光学的和/或声学的和/或触觉的手动输入。有利的是，该控制单元由多个多模的控制单元形成。进一步有利的是，该控制单元被实施和设置用于，使得致动器的控制具有通过摩擦补偿的转矩调节和/或阻抗调节和/或力调节。
该假肢的一个有利的扩展方案的特征在于，控制单元为了控制假肢而提供了多个应用程序(控制程序和控制参数集)，其中，每个应用程序定义了所述假肢的一个运行模式，并且其中，控制单元具有到移动单元的界面、特别是无线的界面，通过该界面能够选择和配置各个应用程序以控制所述假肢。该移动单元有利地是笔记本电脑、智能手机或移动平板电脑。
该假肢的一个有利的扩展方案的特征在于，基于当前的状态ZUS(t)和数据DUMG(t)，通过相应地改变控制信号Sig(t)来自动地调整机械有源和/或无源的阻抗、特别是假肢的刚度。
所提出的假肢有利地实施为手假肢、具有和不具有肘部的前臂假肢、全臂假肢、腿假肢或具有外骨骼的假肢。在所提出的假肢中，一个、多个或所有的假肢区段可以借助于致动器驱动，即，是致动器驱动的。
该假肢的一个有利的扩展方案的特征在于，还存在反馈界面，经过该反馈界面将关于假肢的当前的状态ZUS(t)及其与周围环境的相互作用的反馈传送至假肢佩戴者。该反馈优选以触觉的形式或通过电刺激进行。
附图说明
其他的优点、特征和细节可以从以下描述中得出，其中，(在必要时参考附图)详细地描述了至少一个实施例。相同的、相似的和/或功能相同的部件设置有相同的附图标记。其中：
图1示出了所提出的假肢的示意性结构。
具体实施方式
图1示出了所提出的假肢的示意性结构，其用于替代生物体、特别是人缺失的肢体，该假肢具有：借助致动器101驱动的一个或多个假肢区段，其中，近端的假肢区段具有用于将该近端的假肢区段固定到生物体上的机械接口；第一传感器102，其检测该假肢的当前的状态ZUS(t)、特别是该假肢与周围环境的接触状态；到第二传感器103的接口，其检测用于控制缺失的肢体的生物体的生物信号SIGBIO(t)；第三传感器104，其用于检测数据DUMG(t)，该数据描述假肢的当前的周围环境、特别是位于周围环境中的物体和/或其他生物体；预测单元105，其基于生物信号SIGBIO(t)、假肢的状态ZUS(t)和数据DUMG(t)来确定待由假肢执行的动作A的模型MA(t)，并且在时间段[t，t+Δt]内预测取决于该模型MA(t)的假肢区段的运动Beweg(MA(t))；评价单元106，基于按照预设的评价计划对生物信号SIGBIO(t)、状态ZUS(t)、数据DUMG(t)以及预测到的运动Beweg(MA(t))的评价，通过评价单元能够确定离散的决策E，从而通过另一个动作A‘(E)代替动作A，其中，动作A‘(E)限定一个自反和/或保护性的自主控制/受调控的假肢运动，并且其中，一旦动作A‘(E)不限定这种自反和/或保护性的自主控制/受调控的假肢运动，则通过预测单元105确定待由所述假肢执行的动作A‘的模型MA ‘(t)并且在时间段[t，t+Δt]内预测取决于模型MA‘(t)的假肢区段的运动Beweg(MA‘(t))；和控制单元107，其基于当前有效的预测到的运动Beweg(MA(t))或Beweg(MA‘(t))，或者基于自反和/或保护性的自主控制/受调控的运动推导出用于控制致动器的控制信号Sig(t)，并且基于该控制信号Sig(t)控制/调节致动器
尽管本发明是通过优选实施方案而进一步说明和描述的，但是本发明并不由所公开的实例所限制，并且在不脱离本发明的保护范围的条件下，本领域技术人员能够推导出其他的变型。因此，还存在多种的变型可能。同样还清楚的是，示例性提及的实施方式实际上仅仅为示例，其并不以任何方式作为本发明的保护范围、应用可能性或配置的限定。更确切地，在不脱离由权力要求书及其法律等同物限定的保护范围的条件下，以上的描述和附图说明能够使本领域技术人员具体地转化示例性的实施方式，其中，本领域技术人员在获悉所公开的本发明构思的情况下能够例如对示例性实施方式中提及的各个元件的功能和设置进行多种多样的改变。
附图标记列表
101 致动器
102 第一传感器
103 第二传感器
104 第三传感器
105 预测单元
106 评价单元
107 控制单元

Claims (15)

1.一种用于替代生物体的缺失的肢体的假肢，具有：
-借助致动器(101)驱动的一个或多个假肢区段，其中，近端的假肢区段具有用于将所述近端的假肢区段固定在所述生物体上的机械接口，
-第一传感器(102)，其包括用于检测发动机位置和/或发动机转速和/或发动机加速度的一个或多个关节传感器，所述第一传感器(102)检测所述假肢的当前的动态状态ZUS(t)，
-到第二传感器(103)的接口，所述第二传感器(103)检测用于控制所述缺失的肢体的生物体的生物信号SIGBIO(t)，
-第三传感器(104)，其用于检测数据DUMG(t)，所述数据DUMG(t)描述所述假肢的当前的周围环境，
-预测单元(105)，其基于所述生物信号SIGBIO(t)、基于所述假肢的所述动态状态ZUS(t)和基于所述数据DUMG(t)来确定待由所述假肢执行的动作A的动态模型MA(t)，并且在时间段[t，t+Δt]内预测取决于所述动态模型MA(t)的所述假肢区段的运动Beweg(MA(t))，
-评价单元(106)，基于按照预设的评价计划对所述生物信号SIGBIO(t)、所述状态ZUS(t)、所述数据DUMG(t)以及预测到的所述运动Beweg(MA(t))的评价，通过所述评价单元(106)能够确定离散的决策E，从而通过另一个动作A‘(E)代替所述动作A，其中，所述动作A‘(E)限定一个自反和/或保护性的自主控制/受调控的假肢运动，并且其中，一旦所述动作A‘(E)不限定这种自反和/或保护性的自主控制/受调控的假肢运动，则通过所述预测单元(105)确定待由所述假肢执行的动作A‘(E)的模型MA‘(E)(t)并且在时间段[t，t+Δt]内预测取决于所述模型MA‘(E)(t)的所述假肢区段的运动Beweg(MA‘(E)(t))，和
-控制单元(107)，其基于当前有效的预测到的运动Beweg(MA(t))或Beweg(MA‘(E)(t))，或者基于所述自反和/或保护性的自主控制/受调控的运动推导出用于控制所述致动器的控制信号Sig(t)，并且基于所述控制信号Sig(t)控制/调节所述致动器。
2.根据权利要求1所述的假肢，其中，所述生物体是人。
3.根据权利要求1所述的假肢，其中，所述数据DUMG(t)描述位于所述周围环境中的物体和/或其他生物体。
4.根据权利要求1所述的假肢，其中，所述控制单元(107)具有输入界面，所述假肢的用户经所述输入界面通过输入促使所述控制单元(107)停止所述假肢的任意运动。
5.根据权利要求1所述的假肢，其中，所述评价单元(106)实施和设置为，使得与所述生物信号SIGBIO(t)无关地基于所述当前的状态ZUS(t)和/或所述数据DUMG(t)确定用于动作A‘(E)的决策E，所述动作A‘(E)限定一个自反和/或保护性的自主的假肢运动。
6.根据权利要求1所述的假肢，其中，所述评价单元(106)实施和设置为，使得限定一个自反和/或保护性的自主的假肢运动的动作A‘(E)的决策E在以下情况下触发：
-当所述假肢区段的当前的运动与预测到的所述假肢区段的运动Beweg(M(t))或Beweg(MA‘(E)(t))的偏差大于预设的极限值时，和/或
-当所述假肢区段的当前的运动偏离学习到的模型时，所述学习到的模型观察所述假肢的标准状态和与所述标准状态的相应的临界偏差，和/或
-当基于所述当前的状态ZUS(t)和所述数据DUMG(t)能够发现之前或目前没有执行或错误地执行待由所述假肢执行的动作A或A‘(E)时，和/或
-当一个或多个假肢区段无意地与所述周围环境中的物体发生碰撞时，和/或
-当由所述假肢的温度传感器检测到的温度达到或超过极限值G2时，和/或
-当所述假肢的远端接近物体达到预设的距离或外壳时，和/或
-当所述假肢的当前的状态ZUS(t)对应适应于
Figure FDA0002956377250000021
的状态时，其中，Z ZUS，erlaubt表示所有被允许的状态ZUS(t)的集合。
7.根据权利要求1所述的假肢，其中，所述控制单元(107)实施和设置用于，在执行一个自反和/或保护性的自主运动之后，基于当前检测到的生物信号SIGBIO(t)和/或根据所述假肢的用户经所述控制单元的界面的输入而进行所述假肢的另一个运动，其中，所述界面实施和设置用于光学的和/或声学的和/或触觉的手动输入。
8.根据权利要求1所述的假肢，其中，所述第一传感器包括以下传感器中的一个或多个：
-用于检测发动机位置、发动机转速和/或发动机加速度的关节传感器，
-输出轴传感器，
-加速度传感器，
-力传感器，用于确定由单个假肢区段传递到周围环境的力，并且用于确定由周围环境传递到单个假肢区段的力，以及用于确定假肢和假肢佩戴者之间的相互作用力，
-转矩传感器，用于确定由单个假肢区段传递到周围环境的转矩，并且用于确定由周围环境传递到单个假肢区段的转矩，
-触觉传感器，用于局部地检测作用的力和力矩，
-温度传感器，用于检测作用在所述假肢上的温度，
-湿度传感器，用于检测作用在所述假肢上的湿度。
9.根据权利要求8所述的假肢，其中，所述触觉传感器是人造皮肤。
10.根据权利要求1所述的假肢，其中，所述控制单元(107)为了控制所述假肢而提供了多个应用程序，其中，每个应用程序定义了所述假肢的一个运行模式，并且其中，所述控制单元具有到移动单元的界面，通过所述界面能够选择和配置各个应用程序以控制所述假肢。
11.根据权利要求10所述的假肢，其中，所述界面是无线的界面。
12.根据权利要求1所述的假肢，其中，所述第二传感器(103)包括一个或多个肌电图传感器和/或一个或多个脑电图传感器，其中，所述传感器分别应用在生物体上或植入到生物体内。
13.根据权利要求1所述的假肢，其中，基于所述当前的状态ZUS(t)和所述数据DUMG(t)，通过相应地改变所述控制信号Sig(t)来自动地调整机械有源和/或无源的阻抗。
14.根据权利要求1所述的假肢，其中，基于所述当前的状态ZUS(t)和所述数据DUMG(t)，通过相应地改变所述控制信号Sig(t)来自动地调整假肢的刚度。
15.根据权利要求1所述的假肢，其中，所述预测单元(105)这样实施和设置，使得所述模型MA(t)/MA‘(E)(t)的确定作为学习过程而实施，所述学习过程基于用于执行动作A/A‘(E)的历史数据自主地学习预测到的所述假肢区段的运动Beweg(MA(t))/Beweg(MA‘(E)(t))。
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