DE102017217905A1 - Orthosis or prosthesis system and method for orthosis or prosthesis control or regulation - Google Patents

Abstract

An orthotic or prosthetic system 1 has at least one orthosis or prosthesis, at least one pair of electrodes 5, 5 ', which are provided for contacting the body of the user of the orthosis or prosthesis, for detecting muscle-related signals, at least one evaluation unit for the the at least one electrode pair 5, 5 'detected at least one muscle-related signal, at least one actuator 6 for moving the at least one orthosis or prosthesis and at least one control unit for controlling the at least one actuator 6.
The at least one electrode pair 5, 5 'is adapted to simultaneously detect at least two different muscle-related signals, in particular a bioimpedance signal and an electromyography signal. In addition, the at least one evaluation unit is set up to separate and evaluate the at least two different muscle-related signals.
Due to the redundant detection of various muscle-related signals, the susceptibility of the orthosis or prosthesis system 1 is greatly reduced.

Description

The invention relates to an orthotic or prosthetic system and a method for controlling an orthosis or prosthesis by such a system.

An orthosis according to the invention is an aid that is used for stabilizing, relieving, immobilizing, guiding or correcting a body part. A prosthesis according to the invention is an aid which replaces a body part.

In medicine, orthoses and prostheses are thus used as supplementary aids or as a replacement for limbs and organs. Conceptually, orthoses and prostheses are not always separable, especially since some orthoses replace unusual body functions. Therefore, in the following always referred to by "orthoses or prostheses". It is of course possible to apply the subject invention only in a prosthesis or only in an orthosis.

The starting point for considerations for Orthesen- or prosthesis control or regulation is the desire of the user of an orthosis or prosthesis to feel this not as a disadvantage or disability, but in daily use in the case of an orthosis as support or relief of the body part to be controlled or in the case To use a prosthesis as the most complete replacement for the missing body part.

The orthosis or prosthesis system is thus intended to compensate for the limitations of the user as best as possible or to create a replacement that prevents restrictions.

Requirements for an orthotic or prosthetic system are therefore, for example, the preservation or restoration of the motor skills of the user as well as everyday practicality. As many movement degrees of freedom as possible allow the user to compensate particularly well for restrictions.

In an orthotic or prosthetic system according to the invention, the orthosis or prosthesis is combined with a sensor system and an actuator system, which can be inserted together into a control sequence or into a control loop.

Under sensor technology and actuators is understood in the usual sense, the detection of signals or the triggering of movements by signals.

To control or regulate orthoses or prostheses, the user's desire to make a movement must be determined as quickly and reliably as possible. This is usually done by detecting muscle related signals. In this context, muscle-related signals, in particular electric signals, are understood to mean signals relating to a condition of a muscle, in particular the strength and / or direction of the contraction of the muscle or the direction and / or speed of the movement of the muscle.

Of particular importance is the immunity of the detected muscle-related signals, which are used for the control to prevent malfunction of the orthotic or prosthetic system.

Various methods for detecting muscle-related signals that can be used to control or regulate orthoses or prostheses are known in the prior art:

The DE 10 2008 002 933 A1 shows a data record for patient analysis, as it can be used in conventional prostheses. In this case, the electrical activity of the muscles or muscle groups, for example, by electromyography (EMG), recorded and analyzed at a few, usually two locations using different surface electrodes.

Another well-known method for detecting muscle activity is mechanomyography (MMG), which measures the vibrations that occur during muscle tension.

Scientific publications also show that the amount of complex electrical bioimpedance is also influenced by muscle contractions ( see. Soo-Chan Kim: Estimation of Hand Gestures Using EMG and Bioimpedance, The Transactions of the Korean Institute of Electrical Engineers, Vol. 1, pp. 194-199, 2016, ISSN 1975-8359 (Print) / ISSN 2287-4364 (Online), http://dx.doi.org/10.5370/KIEE.2016.65.1.194 ), whereby the discussion is limited to the way of possible measurements with sensors or electrodes and the interpretation of measurement results.

The invention has for its object to provide an orthotic or prosthetic system and a method for controlling or regulating an orthosis or prosthesis by such a system, which each has an improved noise immunity.

This object is achieved by an orthotic or prosthetic system according to claim 1 and a control or regulating method according to claim 6. Advantageous embodiments of the invention are contained in the subclaims.

The considered orthosis or prosthesis system comprises the following components: at least one orthosis or prosthesis, at least one pair of electrodes, which are provided for contacting the body of the user of the orthosis or prosthesis, for detecting muscle-related signals, at least one evaluation unit for the at least one muscle-related signal from the at least one electrode pair, at least one actuator for moving the at least one orthosis or prosthesis, and at least one control unit for controlling the at least one actuator.

According to the invention, the at least one electrode pair is set up to simultaneously detect at least two different muscle-related signals. In addition, the at least one evaluation unit is set up to separate and evaluate the at least two different muscle-related signals.

Thus, different muscle-related signals are detected redundantly and evaluated. This increases the likelihood of receiving at least one evaluable signal, even if detection of another or all other signals should fail. In this way, the susceptibility of the orthosis or prosthesis system is greatly reduced. At the same time, the detection of the different muscle-related signals by the same electrode pair, whereby the equipment cost is reduced and it is ensured that the signals are detected at the same location and thus related to the same muscle.

In a preferred embodiment of the invention, the at least two different muscle-related signals are at least one bioimpedance signal and one electromyography signal. Thus, two signals are available from which in particular the muscle contraction can be determined with high accuracy.

In a preferred embodiment of the invention, the at least one electrode pair is further adapted to supply electrical stimulation signals to the user of the orthosis or prosthesis. By using the same pair of electrodes as for the signal measurements, the expenditure on equipment is again reduced, and it is ensured that the stimulation signals are fed exactly at the measuring location of the signal measurements and thus take place in the region of the same muscle to which the signal measurements are also related.

In a preferred variant of this embodiment, the electrical stimulation signals are set up to give the user of the orthosis or prosthesis feedback about the movements and / or the condition of the orthosis or prosthesis. Movement or state parameters to which the feedback may refer are in particular the speed of the orthosis or prosthesis or the force generated thereby. In this way, for example, the user of a hand prosthesis can be told how strong the prosthesis accesses.

In a further preferred embodiment of the invention, the orthosis or prosthesis system has at least two electrode pairs for the simultaneous detection of at least two different muscle-related signals at different points of the body of the user of the orthosis or prosthesis. Further preferably, the system comprises an electrode array of a plurality of electrode pairs. As a result, a locally distributed measurement of the various muscle-related signals and thus a geometric resolution of the respective measurement signals is possible.

The pairs of electrodes are preferably pairs of electrodes for bioimpedance and EMG signals, but also pairs of electrodes for other muscle-related signals, in particular for mechanomyography (MMG) signals.

The orthotic or prosthetic system according to the invention is thus simple, compact and structurally variable in design to the tasks adaptable. Modular retrofitting of existing orthotic or prosthetic systems is also possible.

Thus, the orthotic or prosthetic system according to the invention can be used for a wide variety of applications in medical technology.

In particular, the invention makes it possible to improve the interference resistance of the orthotic or prosthetic control by redundantly detecting at least two different muscle-related signals, in particular a bioimpedance signal and an electromyography signal. Since the detection of the two signals by the same electrode pair, the equipment cost is reduced, and it is ensured that the two signals are measured at exactly the same place.

In a method according to the invention for controlling or regulating an orthosis or prosthesis by means of an orthotic or prosthetic system according to the invention, at least two different muscle-related signals are detected by the at least one electrode pair and separated and evaluated by the at least one evaluation unit. In addition, the at least one actuator is controlled as a function of the result of the evaluation of the at least two different muscle-related signals and the orthosis or prosthesis is moved by the at least one actuator.

The method according to the invention provides rapid and simple signal processing for an orthotic or prosthetic system according to the invention.

• - Kostengünstiges System
• - Signifikante Erhöhung der Messsicherheit von Muskelkontraktionen und bessere Erkennung des Nutzerwunsches nach einer Prothesenbewegung
• - Hohe geometrische Auflösung durch Elektrodenarray
• - Geringe Anzahl von Elektroden notwendig
• - Hohe Messgenauigkeit
• - Ermöglichung mehrerer Bewegungs-Freiheitsgrade
• - Benutzerfreundlichkeit, sehr geringe Benutzerbeeinträchtigung
• - Die Messung von EMG-Signal und Bioimpedanz-Spannungssignal mit einem gemeinsamen Messkanal spart einen ADC-Kanal ein und reduziert die Anzahl der benötigten Elektroden und Kabelverbindungen.
• - Die Messung von EMG-Signal und Bioimpedanz-Spannungssignal mit einem gemeinsamen Messkanal stellt automatisch die Synchronizität beider Signale zueinander sicher.
• - Zeitgleiche Messung von EMG und Bioimpedanz am selben Messort.

Further advantages of the invention and its embodiments are:

• - Cost-effective system
• Significant increase in the measurement reliability of muscle contractions and better recognition of the user's request after a prosthesis movement
• - High geometric resolution through electrode array
• - Small number of electrodes necessary
• - High measuring accuracy
• - Enabling multiple degrees of freedom of movement
• - Ease of use, very little user impairment
• - Measurement of EMG signal and bioimpedance voltage signal with a common measurement channel saves an ADC channel and reduces the number of electrodes and cable connections required.
• - The measurement of EMG signal and bioimpedance voltage signal with a common measuring channel automatically ensures the synchronicity of both signals to each other.
• - Simultaneous measurement of EMG and bioimpedance at the same site.

• - Mehrkanalmessung unter Verwendung von Elektrodenarrays. Dadurch kann neben der Erhöhung der geometrischen Auflösung auch die Anisotropie (längs und quer zu den Muskelfasern) der Bioimpedanz als Information genutzt werden.
• - Als Feedback kann auch ein mechanischer Aktuator verwendet werden, welcher im Elektrodensatz integriert ist.
• - Artefakterkennung mittels Bewegungssensoren (Beschleunigung, Drehrate, o.ä.).
• - Ultraschallsensoren können zur weiteren Informationsgewinnung über den Muskelzustand genutzt werden.
• - Kapazitive Sensoren können zur weiteren Informationsgewinnung über den Muskelzustand genutzt werden.
• - Die Kombination aus EMG und Bioimpedanz ermöglicht auch quantitative Bewegungsanalysen.
• - Der Einfluss der Muskulatur auf elektromagnetische Felder kann zur weiteren Informationsgewinnung über den Muskelzustand genutzt werden.
• - Eine mechanische Anregung der Muskeln und das Messen von deren Reaktion können Informationen über die Steifigkeit des Muskels liefern. Aus dieser kann geschlossen werden, ob der Muskel angespannt oder entspannt ist.
• - Die geometrische Verformung der Muskelregion kann durch Abstandsmessungen bestimmt werden.
• - Denkbar ist auch ein Strumpf mit Druckkammern oder Dehnungsmesstreifen.
• - Aus dem Bioimpedanzsignal kann auch die arterielle Pulswelle extrahiert werden. Diese liefert Informationen über Herzschlagfrequenz, Herzschlagfrequenz-Variabilität, arterielle Gefäßsteifigkeit und Atemfrequenz.
• - Mittels Bioimpedanzmessung kann auch die Elektrode-Haut-Impedanz gemessen werden. Diese enthält Informationen über Schweißbildung und Stress sowie über Elektrodenprobleme.
• - Der Messort, an dem die Muskelkontraktionen gemessen werden, ist nicht unbedingt auch der Ort der Prothese. Andere Muskelgruppen können auch zur Steuerung einer Prothese eingesetzt und die Messergebnisse vorzugsweise drahtlos an die Prothese übertragen werden.
• - Weitere Sensorik kann genutzt werden, um Umgebungs- und Situationsbedingungen in das System einfließen zu lassen, insbesondere Beschleunigungssensoren zur Erkennung von Extremitätenlagen (z. B. Arm oben, unten, horizontal ausgestreckt). Denkbar sind außerdem Abstandsmessungen zu Bezugspunkten. Bewegen sich zum Beispiel zwei Beinprothesen voneinander weg, so ist es sehr wahrscheinlich, dass ein Schritt durchgeführt werden soll. Nähert sich eine Handprothese der Hosentasche, so soll vermutlich die Hand geöffnet werden.
• - Das elektrische Aufladen der Prothesen-Batterie könnte drahtlos, insbesondere induktiv, geschehen, wie es bereits von Mobiltelefonen bekannt ist. Die benötigte elektrische Energie müsste somit nicht in schweren Akkus in der Prothese getragen werden, sondern könnte beispielsweise in der Hosentasche oder am Gürtel mitgetragen werden.
• - Die Erfindung kann als Multi-Sensor aufgefasst werden, welcher nicht zwangsmäßig mit einer Prothese kombiniert sein muss.
• - Die Signalverarbeitung und -auswertung können auch an einem anderen Ort durchgeführt werden.
• - Das System kann selbstständig kommunizieren („Internet der Dinge“).

The following further refinements or extensions of the invention are possible:

• Multi-channel measurement using electrode arrays. As a result, in addition to increasing the geometric resolution, the anisotropy (longitudinal and transverse to the muscle fibers) of the bioimpedance can also be used as information.
• - As feedback, a mechanical actuator can be used, which is integrated in the electrode set.
• - Artifact detection by means of motion sensors (acceleration, rate of rotation, etc.).
• - Ultrasonic sensors can be used to further gain information about the muscle state.
• - Capacitive sensors can be used to further gain information about the muscle state.
• - The combination of EMG and bioimpedance also allows quantitative motion analysis.
• - The influence of the musculature on electromagnetic fields can be used to further gain information about the muscle state.
• - Mechanical stimulation of the muscles and measuring their response can provide information about the stiffness of the muscle. From this it can be concluded whether the muscle is tense or relaxed.
• - The geometric deformation of the muscle region can be determined by distance measurements.
• - Also conceivable is a stocking with pressure chambers or strain gauges.
• The arterial pulse wave can also be extracted from the bioimpedance signal. This provides information on heart rate, heart rate variability, arterial vascular stiffness and respiratory rate.
• Bioimpedance measurement can also be used to measure the electrode-skin impedance. It contains information about perspiration and stress as well as about electrode problems.
• - The site where the muscle contractions are measured is not necessarily the location of the prosthesis. Other muscle groups can also be used to control a prosthesis and the measurement results preferably wirelessly transmitted to the prosthesis.
• - Additional sensor technology can be used to incorporate ambient and situational conditions into the system, in particular acceleration sensors for detecting extremity positions (eg arm up, down, horizontally extended). Also conceivable are distance measurements to reference points. For example, if two prosthetic legs move away from each other, it is very likely that one step should be taken. If a hand prosthesis approaches the trouser pocket, the hand should probably be opened.
• - The electrical charging of the prosthesis battery could be wireless, especially inductive happen, as it is already known from mobile phones. The required electrical energy would thus not have to be carried in heavy batteries in the prosthesis, but could be carried for example in the pocket or on the belt.
• - The invention may be understood as a multi-sensor which need not necessarily be combined with a prosthesis.
• - The signal processing and evaluation can also be performed at a different location.
• - The system can communicate independently ("Internet of Things").

• - Prothetik, Orthetik
• - Robotik
• - Mensch-Maschine-Schnittstellen in Industrie und Medizin
• - Messung der Atemaktivität
• - Fitness
• - Physiotherapie, beispielsweise Erkennung von Schonhaltungen
• - Veterinärmedizin

Possible fields of application of the invention, taking into account the aforementioned further refinements or extensions, are:

• - Prosthetics, Orthotics
• - Robotics
• - Human-machine interfaces in industry and medicine
• - Measurement of respiratory activity
• - Fitness
• - Physiotherapy, for example, detection of restraint
• - Veterinary medicine

• 1 einen Teil eines erfindungsgemäßen Orthesen- oder Prothesen-Systems in schematischer Darstellung;
• 2 beispielhaft kombinierbare Messverfahren und Messparameter;
• 3 ein Ersatzschaltbild für den Bioimpedanzmesskreis;
• 4 ein Gewebe-Ersatzschaltbild als Teil des Bioimpedanzmesskreises aus 3;
• 5 eine Messanordnung für den Bioimpedanzmesskreis aus 3 an einem unversehrten Arm;
• 6 eine Messanordnung für den Bioimpedanzmesskreis aus 3 an einem Arm mit einer Prothese;
• 7 ein Ersatzschaltbild für den EMG-Messkreis;
• 8 eine Frequenzdarstellung additiv überlagerter EMG- und Bioimpedanz-Signale;
• 9 eine Frequenzdarstellung der hochpassgefilterten Signale aus 8;
• 10 eine Frequenzumsetzung der hochfrequenten Bioimpedanz-Signalanteile aus 9;
• 11 eine beispielhafte Darstellung der Unterschiede zwischen einer Vollweg- und einer Halbweg-Gleichrichtung;
• 12 ein Ausgangssignal der analogen Signalverarbeitung gemäß den 8 bis 11;
• 13 eine schematische, abstrahierte Darstellung des erfindungsgemäßen Verfahrens.

Other features, advantages and applications of the invention will become apparent from the following description taken in conjunction with the respective figure. Showing:

• 1 a part of an orthotic or prosthetic system according to the invention in a schematic representation;
• 2 exemplary combinable measuring methods and measuring parameters;
• 3 an equivalent circuit for the bioimpedance measuring circuit;
• 4 a tissue equivalent circuit as part of the bioimpedance measurement circuit 3 ;
• 5 a measuring arrangement for the bioimpedance measuring circuit 3 on an intact arm;
• 6 a measuring arrangement for the bioimpedance measuring circuit 3 on an arm with a prosthesis;
• 7 an equivalent circuit diagram for the EMG measuring circuit;
• 8th a frequency representation of additive superimposed EMG and bioimpedance signals;
• 9 a frequency representation of the high-pass filtered signals 8th ;
• 10 a frequency conversion of the high-frequency bioimpedance signal components 9 ;
• 11 an exemplary representation of the differences between a full-wave and a half-way rectification;
• 12 an output signal of the analog signal processing according to 8th to 11 ;
• 13 a schematic, abstracted representation of the method according to the invention.

1 shows a part of an orthotic or prosthetic system according to the invention 1 in a schematic representation. Shown are the muscle to be measured 3 the user of the orthosis or prosthesis as well as several pairs of electrodes for sensors and actuators, but not the evaluation unit and the orthosis or prosthesis itself. The orthosis or prosthesis system 1 is over the skin 2 with a muscle 3 via a sensor and actuator in conjunction.

In this case, a first electrode pair is used 4 . 4 ' the current impression for the bioimpedance measurement. A second pair of electrodes 5 . 5 ' At the same time it is used to measure voltage for the determination of the bioimpedance, the EMG signal measurement and the initiation of a stimulation signal. In addition, other sensors, such as a mechanomyography (MMG) sensor, and other actuators are designated together with 6 schematically.

2 shows, by way of example, combinable measuring methods and measuring parameters for the orthotic or prosthetic system according to the invention 1 , In particular, the measuring methods can be electrocardiography, photoplethysmography, electromyography, phonocardiography or bioimpedance measurement in the orthotic or prosthetic system 1 be used. In particular, redundant measurements for the blood pressure, the heartbeat frequency, the heartbeat volume, the blood oxygen saturation or the arterial vascular stiffness can thus be carried out.

3 shows an example of an equivalent circuit diagram for a bioimpedance measuring circuit. Shown are individual equivalent circuit diagrams of the electrode-skin transition for the electrode pairs 4 . 4 ' for the current impression or 5 . 5 ' for the voltage measurement and the equivalent circuit diagram for the generation of bioimpedance in the muscle 3 ,

4 shows the tissue equivalent circuit diagram for the generation of bioimpedance in muscle 3 out 3 in detail. This is the resistance R _e resistance of extracellular fluid, resistance R _i the resistance of the intracellular fluid and the capacitor C _m the capacity of the cell membrane.

The measurement of the electrical impedance of the muscle tissue via a so-called Four-wire technology. In this case, an alternating current with a frequency f of about 10 to 500 kHz and a current I _mess of about 0.1 to 5 mA (IEC 60601-1) imprinted into the muscle tissue and at the same time the voltage drop V _mess measured over the muscle tissue. The bioimpedance Z _organic is then determined as V _mess / I _mess .

The 5 and 6 show a measuring arrangement for the bioimpedance measuring circuit 3 on an intact arm or on an arm with a prosthesis. It is in 6 from the electrode pair 5 . 5 ' for voltage measurement only one electrode 5 to see.

7 shows an equivalent circuit diagram for a measuring circuit for the EMG voltage measurement by the pair of electrodes 5 . 5 ' , The muscle 3 , represented by the equivalent resistance R _i , generated voltage V _EMG is doing over the electrodes 5 . 5 ' as tension V _measurement measured.

The orthotic or prosthetic system according to the invention 1 comprises at least one bioimpedance measuring circuit according to 3 and an EMG measuring circuit 7 , consisting of current injection and voltage measurement. The existing electrodes are redundantly used both for the detection of the bioimpedance signals and the EMG signals.

To increase the geometric resolution, several such measurement channels are combined. Electrodes, sensors and actuators are preferably combined in the form of a stocking. As a result, a simple and secure positioning of the sensor is given.

In addition, the existing electrodes can be redundantly used to initiate electrical stimulation signals to provide feedback to the user of the orthosis or prosthesis.

An MMG sensor system, for example consisting of microphones or acceleration sensors, can additionally be used for the detection of muscle vibrations.

8th shows a frequency representation of the additive superimposed EMG and bioimpedance signals. The signal decrease of these additive superimposed signals via the two inner electrodes 5 . 5 ' in 1 , Typically, the EMG frequency range is between f _{EMG, min} = 1 Hz and f _{EMG, max} = 1000 Hz. The excitation frequency of a bioimpedance measurement f _z is usually much higher in the upper kHz range. Because of the temporal change in bioimpedance due to muscle activity, an amplitude modulation of f _z , Typically, the change in muscle activity occupies a frequency band f _{z, max} -f _z of max. 20 Hz. To determine the bioimpedance over time, the entire frequency band must be between fz _{, min} and f _{z, max} be recorded.

Without further action, a sampling rate of at least twice that would be required f _{z, max} necessary. In order to allow significantly lower sampling rates for simultaneously digitizing both signals, the signal processing steps shown below are performed.

High pass filter according to 9 : The lower part of the spectrum is freed of noise and EMG signal components by means of an analogue filter. Although this limits the lower frequency range of the EMG signal, it has little relevance for the subsequent signal analysis.

Half-way rectification according to 10 : By means of an analog half-path rectification, the high-frequency signal components of the bioimpedance measurement are converted into the now free, low-frequency part of the spectrum.

The half-wave rectification is chosen in this step because full-wave rectification would cancel the EMG signal components with each high-frequency bioimpedance signal half-wave. In 11 are a Vollweg- and a half-way rectification exemplified in comparison.

Low pass filter according to 12 : The rectified signal is filtered with an analog low-pass filter. Thus, in the next step, only the in 12 displayed spectrum can be digitized. This consists of the envelope of the bioimpedance signal and the information of the EMG signal.

13 shows a schematic, abstracted representation of an embodiment of the method according to the invention with a feedback loop. In this case, a muscle contraction of the human user of the orthosis or prosthesis is converted into a control signal for an actuator, which moves the orthosis or prosthesis according to the user's request. The movement of the orthosis or prosthesis in turn leads to the generation of a feedback signal, which is supplied to the perception of the user. In this way, a closed loop for the movement of the orthosis or prosthesis results in accordance with the user request.

LIST OF REFERENCE NUMBERS

1

Orthosis or prosthesis system

2

skin

3

muscle

4, 4 '

first electrode pair

5, 5 '

second pair of electrodes

6

additional sensors / actuators

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008002933 A1 [0012]

Cited non-patent literature

• see. Soo-Chan Kim: Estimation of Hand Gestures Using EMG and Bioimpedance, The Transactions of the Korean Institute of Electrical Engineers, Vol. 1, pp. 194-199, 2016, ISSN 1975-8359 (Print) / ISSN 2287-4364 (Online), http://dx.doi.org/10.5370/KIEE.2016.65.1.194 [0014]

Claims (6)

An orthotic or prosthesis system (1), comprising - at least one orthosis or prosthesis, - at least one pair of electrodes (5, 5 '), which are provided for contacting the body of the user of the orthosis or prosthesis, for detecting muscle-related signals, at least one evaluation unit for the at least one muscle-related signal detected by the at least one electrode pair, at least one actuator for moving the at least one orthosis or prosthesis and at least one control unit for controlling the at least one actuator 6), characterized in that the at least one electrode pair (5, 5 ') is adapted to simultaneously detect at least two different muscle-related signals and the at least one evaluation unit is adapted to separate and evaluate the at least two different muscle-related signals. Orthosis or prosthesis system after Claim 1 , characterized in that the at least two different muscle-related signals are at least one bioimpedance signal and one electromyography signal. Orthosis or prosthesis system according to one of the preceding claims, characterized in that the at least one electrode pair (5, 5 ') is further adapted to supply the user of the orthosis or prosthesis electrical stimulation signals. Orthosis or prosthesis system after Claim 3 , characterized in that the electrical stimulation signals are adapted to give the user of the orthosis or prosthesis feedback on the movements and / or the condition of the orthosis or prosthesis. Orthosis or prosthesis system according to one of the preceding claims, characterized in that it comprises at least two electrode pairs (5, 5 ') for simultaneous detection of at least two different muscle-related signals at different locations of the body of the user of the orthosis or prosthesis. Method for controlling or regulating an orthosis or prosthesis by means of an orthotic or prosthetic system according to one of the preceding claims, having the following steps: Detecting at least two different muscle-related signals by the at least one electrode pair (5, 5 '), Separating and evaluating the at least two different muscle-related signals by the at least one evaluation unit, Controlling the at least one actuator (6) as a function of the result of the evaluation of the at least two different muscle-related signals, - Moving the orthosis or prosthesis by the at least one actuator (6).

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