DE102020116536A1 - Prosthetic device with a prosthetic hand and method for operating a prosthetic device - Google Patents

Abstract

The invention relates to a prosthetic device (10) with a prosthetic hand (20) with a base body (21) and at least one motor-adjustable finger (22) movably mounted thereon, with at least one prosthetic hand sensor (25) assigned to the prosthetic hand (20), wherein the Prosthetic hand sensor (25) is selected from a group comprising acceleration sensors, gyroscopic sensors, IMU, pressure sensors, magnetometers, optical sensors, infrared sensors and / or a combination thereof, as well as at least one biosignal sensor (35) for detecting at least one biosignal, the Sensors (25, 35) are coupled to a control device (30), the prosthesis device (10) having at least one interface (40) to a machine (50) and different operating modes (60) being stored in the control device (30) can be selected via signals from the sensors (25, 35), with the prosthesis device (10) al s input device for the machine (50) is acting.

Description

The invention relates to a prosthetic device with a prosthetic hand with a base body and at least one motor-adjustable finger movably mounted thereon, with at least one prosthetic hand sensor assigned to the prosthetic hand, the prosthetic hand sensor being selected from a group consisting of acceleration sensors, gyroscopic sensors, IMU, pressure sensors, magnetometers and / or a combination thereof, as well as at least one muscle signal sensor for detecting at least one biosignal, wherein the sensors are coupled to a control device. The invention also relates to a method for operating such a prosthetic device.

Prosthetic devices replace limbs or limb parts that are no longer present or no longer present and, if possible, should at least partially replace the function of the limb that is not present. In addition to purely mechanically constructed prosthesis devices, there are mechatronic prosthesis devices in which actuators are activated and / or deactivated or motor drives are activated and / or deactivated on the basis of sensor values. In prosthetic devices of the lower extremity, for example, on the basis of status or position information and / or movement information that is determined by sensors, valves are adjusted to change hydraulic resistances, or magnetic fields are changed to achieve magnetorheological effects or energy storage devices are released to induce movements support or slow down. Active prostheses have an energy store and electric motors that are activated and / or deactivated on the basis of sensor data in order to effect or prevent displacement of prosthesis components in relation to one another.

In the case of prosthetic devices for the upper extremities, different types of prosthetic hands or gripping devices are known. Purely mechanical grippers are activated and deactivated using mechanical traction means. In addition, there are prosthetic hands that can perform different grasping movements on the basis of myoelectric impulses. For this purpose, the prosthetic hands are provided with at least one, usually several fingers, which are movably mounted on a chassis and are coupled to at least one motor drive. If a myoelectric signal is detected via electrodes, for example due to a cocontraction of antagonistic muscles, an activation signal for a motor is generated in a control device which, up to a maximum stop, until the signal disappears or until it is interrupted by another myoelectric signal, a corresponding displacement of the Prosthetic finger causes. Such a signal can also result, for example, in a finger movement of the prosthetic hand in order to generate a confirmation signal by means of a computer mouse. The problem, however, is that the operation of a computer mouse is very complex, the operation of the right mouse button often causes difficulties and the prosthetic wrist is often not flexible, so that the mouse pointer cannot be precisely positioned.

The object of the present invention is to provide a prosthesis device and a method for operating a prosthesis device with a prosthetic hand, with which the operation of machines, in particular machines with a graphical user interface, is possible in a simplified manner.

According to the invention, this object is achieved by a prosthesis device with the features of the main claim and a method with the features of the independent claim. Advantageous configurations and developments of the invention are disclosed in the subclaims, the description and the figures.

The prosthetic device with a prosthetic hand with a base body and at least one movably mounted, motor-adjustable finger, with at least one prosthetic hand sensor assigned to the prosthetic hand, the prosthetic hand sensor being selected from a group comprising acceleration sensors, gyroscopic sensors, IMU, pressure sensors, magnetometers and / or comprises a combination thereof, as well as at least one biosignal sensor, in particular muscle signal sensor for detecting at least one biosignal of the prosthesis user, wherein the sensors are coupled to a control device, wherein the control device is set up to control the movement of the fingers on the basis of sensor signals, provides that the prosthesis device has at least one interface to a machine and different operating modes are stored in the control device, which can be selected via signals from the sensors, wherein in at least one operating mode us the prosthesis unit acts as an input device for the machine. Prosthetic devices of an upper extremity with a prosthetic hand are controlled, for example, via muscle signal sensors for detecting muscle signals. These sensors can be implanted sensors such as nerve cuffs or surface sensors such as lead electrodes for recording myoelectric signals. Other sensors can also be used to record biosignals, muscle activity or other arbitrary Record changes in a muscle. Pressure sensors are also suitable for recording muscle contractions and the associated changes in the shape or elasticity of the muscle or other body functions. The biosignal sensors detect arbitrary changes in the body of the prosthesis user, for example movements of limbs, displacements, tension and their effects, for example eye movements and the like. If muscle signal sensors are referred to below, this is understood to mean all biosignal sensors with which arbitrary signals from the prosthesis user can be received. In addition to the biosignal sensors and in particular muscle signal sensors, motor-operated prosthetic hands have at least one prosthetic hand sensor in order to provide feedback to the control device to which the prosthetic hand sensor is coupled. The prosthetic hand sensor or several thereof are designed, for example, as an acceleration sensor, gyroscopic sensor, inertial measurement unit (IMU), pressure sensor, magnetometer and / or a combination thereof. Control programs and several operating modes are stored in the control device, which is coupled to both the prosthetic hand sensors and the biosignal sensors, so that the prosthetic device can be easily adapted to different purposes. On the basis of sensor signals that generate displacement signals of the prosthesis device, a decision is made in the control device as to whether and for how long an actuator or drive is operated in which way. Depending on the operating mode, the same sensor signals can cause different effects and / or reactions. The operating modes can be selected using sensor signals, for example using bio signals, muscle signals or a specific signal pattern from the prosthetic hand sensors or the prosthetic hand sensor. If, for example, a certain movement, a certain acceleration of the prosthetic hand by the prosthetic hand user, a certain pressure at a certain point over a certain period of time and / or in a certain spatial position is detected by the sensor or the sensors, a switch to another operating mode can take place. One of the plurality of operating modes is an operating mode in which the prosthetic unit acts as an input device for a machine, the machine being connected to the prosthetic device via an interface. The operating mode with the prosthesis unit as an input device for the machine makes it possible to operate the machine, for example a computer, a material processing machine, a complex system with input elements, a smartphone, a tablet, devices in a house or the like. The especially integrated interface makes it possible to operate a machine without mechanical actuation of the prosthetic finger, which can also be, for example, a hook element of a gripper that can be actuated on the basis of muscle signals. The prosthesis unit then serves as an input device for the machine and can directly use the sensor signals, i.e. both the signals from the prosthetic hand sensors and the bio or muscle signal sensors, to generate corresponding input signals for the machine. It is also possible for different sensors for the generation of control signals for the machine to be selected or assigned in the respective operating mode. Different input modes for different machines can be stored within the control device. For example, an input mode for a computer can permit different sensor signals than an input mode for a CNC machine, a system control of a work machine or the like.

The interface is advantageously designed as a wireless interface with a transmitter which is suitable for sending signals to the corresponding receiving device on or in the machine. Alternatively, a wired interface can be formed so that there is a direct mechanical connection for the transmission of corresponding signals, for example electrical or optical signals. For this purpose, a corresponding socket or plug receptacle is arranged on the prosthesis device.

At least one acceleration sensor can be coupled to the control device, the sensor signals of which are integrated over time so that the position of an input marker or a mouse pointer is determined relative to a start position. As an alternative to determining the position of the input marker relative to a start position, the position can also be calculated and determined absolutely. The signals from the acceleration sensor are then used as a basis for the calculation and, if necessary, processed with other sensor signals. In the embodiment of the input marker as a mouse pointer, it can also be a cursor of an operating unit of a machine or system that is operated with the control signals of the prosthesis device.

At least one inertial measuring unit or IMU and / or a combination of acceleration sensors, gyroscopic sensors and / or magnetometers can be coupled to the control device, the spatial orientation of the prosthesis device being calculated from the sensor signals, in particular the IMU. Changes in the spatial position of the prosthesis device and / or the sensor values or displacement values become position values, in particular angle values for changing the position of the input marker calculated. This makes it possible to change the position of the input marker or mouse pointer or another indicator device by changing the spatial position of the prosthesis direction and thus to trigger control commands if necessary. A direct three-dimensional conversion of the recorded spatial coordinates of a reference point or a reference point of the prosthesis device can take place with the input marker. For example, a certain point of a prosthetic hand or the prosthetic device can be defined as a reference point, the movement of which in space is recorded by the IMU and converted as 3D information for a virtual indicator device.

In particular, the sensors can be designed for the detection of biosignals or muscle signals for the detection of muscle contractions and can be set up to switch the operating modes. Since muscle contractions can be carried out very quickly, an operating mode switchover can take place very quickly and very easily on the basis of the detection of muscle contractions or also cocontractions. Muscle contractions can be recorded easily and reliably and are therefore well suited to be used as switching signals between different states. Muscle contractions are less suitable for bringing about a change in a state via the amplitude and duration of signals or signal patterns, for example to bring about a proportional increase in speed by continuously increasing the contraction intensity. This requires a high level of attention and usually extensive training. On the other hand, movements of prosthetic devices can be carried out very precisely by the remaining limbs, so that their detection via sensors is particularly well suited for making changes to the input marker, the mouse pointer or the like. Examples of different operating modes are the gripping mode, the selection mode, the mouse mode, the adjustment mode on a household appliance, the input mode on a production plant and the like.

Functions of the input marker or the mouse are therefore preferably assigned to signals from the sensors for detecting movements or changes in the prosthesis device, in particular the signals from gyroscopes, IMU, magnetometers, pressure sensors and / or acceleration sensors. In principle, it is also possible that, as an alternative or in addition, functions of the input marker are equipped and can be activated with sensor signals from bio-signals or muscles, in particular from muscle contractions. For example, confirmations such as double-clicking or right-clicking on the mouse can be carried out by a corresponding muscle contraction signal or a signal pattern.

The prosthesis device, as has been described above, provides that a mode for moving a mouse pointer on a graphical user interface or a mode for moving an input marker, a mode for changing a setting variable, a mode of a selection function and / or a mode of an activation function an application is or are stored in the control device. If, for example, the operating mode of a computer mouse is provided, the sensor signals are assigned a corresponding assignment for moving a mouse pointer on a graphical user interface, in particular a computer, a tablet or the like. If there is no graphical user interface, an input marker can be moved accordingly in order to operate the machine or the device or the system. A graphical interface is therefore not necessary. Control via acoustic or haptic feedback from the machine and / or the prosthesis is also possible. The mode can also include changing a setting variable, for example changing a volume, a speed, a flow variable, a resistance or the like. Instead of operating a slide control or a rotary control that generates an electrical signal, the sensor signals are used to transmit control signals directly to change the size of the machine. Likewise, a selection function can be stored in the mode or a selection mode can be defined as the operating mode, so that a selection is confirmed or made. An activation function can be stored in the control device via a sensor signal or a combination of sensor signals, for example to activate a shortcut key, to activate an insert function, to activate a confirmation or to switch other functions on or off, for example if the hand is not supplied with a mouse or an input device is being used. In principle, the input marker can also be adjusted three-dimensionally on the basis of the displacement signals in order to act easily in a hologram, a 3D drawing program or a VR environment.

The method for operating a prosthesis device, as has been described above, in which different operating modes are selected via sensor signals, provides that an input mode for transmitting and moving an input marker for a machine by at least one sensor signal is selected as the operating mode. The input marker is moved within the input mode, the input marker being designed as a mouse pointer, for example can. It is also possible for the input marker to be displayed on a graphical user interface. Alternatively, the input marker can be displayed in the context of a 3D simulation, a screen on a hologram or a similar representation.

The input mode can be selected via a pattern recognition of a bio-signal, a muscle contraction and / or at least one muscle cocontraction and / or by recognizing a movement pattern of the prosthesis device. As an alternative or in addition, other prosthetic hand sensor signals can be provided for activating the desired operating mode.

Acceleration signals of the prosthesis device can be transmitted to the control device and integrated over time, the relative movement of the prosthesis device being projected onto a plane and a command for the movement of the input marker or the mouse pointer being determined therefrom. Alternatively or in addition, the spatial orientation of the prosthetic device can be calculated from sensor signals from an IMU and commands for changing the position of the input marker can be calculated from changes in the spatial position of the prosthetic device.

Functions of the input marker can be activated via signals from the sensors for detecting bio or muscle signals, in particular muscle contractions, and / or signals from gyroscopes, IMU, magnetometers, pressure sensors and / or acceleration sensors or other prosthetic hand sensors, for example a confirmation function can be carried out, a switch activated or disabled or the like.

A further development of the invention provides that the drives of the prosthetic hand are blocked in the input mode, so that activities for controlling the input marker are not overlaid with activities of the prosthetic hand, for example unwanted flexion of the prosthetic finger or the prosthetic hand in the wrist, if only a change in the position of the input marker is required.

In one development, control signals for the input marker can only be transmitted in the input mode via the interface to the machine or a user interface.

A further development of the invention provides that an interruption mode is activated via a signal pattern in which neither the drives nor the input marker are moved. On the one hand, the interruption mode serves as an emergency signal in order to interrupt all activities of the prosthetic device in the event of overlaps or undesired complications. On the other hand, the interrupt mode can reset the control signal for the input marker. If, for example, the input marker in the form of a mouse pointer is to be moved to the right, but the user cannot move the mouse any further to the right, the prosthetic device, for example, is raised so that it no longer delivers a signal. Then it is moved to the left and deposited so that the mouse and the mouse pointer can be moved further to the right after it has been deposited. However, the mouse pointer did not move to the left before that. Lifting it activated the interrupt mode and interrupted and reset the control signal.

The sensor data can be used to move a mouse pointer on a graphical user interface, to change a setting variable, to select and / or to activate an application outside of the prosthesis device. In addition to an application in the increasingly automated world of work for operating complex devices via electronic media, a private application, e.g. for operating smart homes, can also be used. Private houses are increasingly being equipped with actuators and sensors and can be controlled remotely using mobile devices. Blinds can be opened or closed, heating systems can be switched on or off, lights can be switched on or dimmed and a large number of networked household appliances can be operated in the appropriate mode.

• 1 - eine schematische Darstellung einer Protheseneinrichtung;
• 2 - eine Protheseneinrichtung gemäß 1 mit unterschiedlichen Schnittstellen;
• 3 - unterschiedliche Anwendungsmöglichkeiten; sowie
• 4 - Varianten der 3.

Exemplary embodiments of the invention are explained in more detail below with reference to the accompanying figures. Show it:

• 1 - a schematic representation of a prosthetic device;
• 2 - a prosthetic device according to 1 with different interfaces;
• 3 - different application possibilities; such as
• 4th - Variants of the 3 .

In the 1 is the basic structure of a prosthetic device 10 in the form of a prosthetic arm with a prosthetic shaft 11 shown for receiving a forearm stump. The prosthesis socket 11 has an insertion opening for a forearm stump at its proximal end. At the distal end of the prosthesis shaft 11 is a prosthetic hand 20th arranged that a base body 21 having. The basic body 21 or, in the embodiment shown, the chassis can be pivoted on the prosthesis socket in the area of the wrist 11 attached. In addition, the Base body 21 several movably supported fingers 22nd on. Under one finger 22nd a thumb is also understood. At least one of the fingers 22nd is a motor drive 23 assigned, which in the illustrated embodiment within the base body 21 is arranged. It is also provided that each finger 22nd a single, separate drive 23 assigned. The basic body 21 is also another drive 23 for performing a flexion movement and / or extension movement in the wrist relative to the prosthesis shaft 11 assigned.

Inside the prosthesis socket 11 are prosthetic hand sensors 25th arranged. In the illustrated embodiment, the prosthetic hand sensors are 25th in the prosthesis socket 11 arranged, the prosthetic hand sensors 25th can also be used within the prosthetic hand 20th be arranged, for example in the base body 21 or in or on the fingers 22nd . The prosthetic hand sensors 25th are for example acceleration sensors, gyroscopic sensors or gyroscopes, inertial measurement units (IMU), pressure sensors, magnetometers and / or a combination thereof. There can be several sensors of the same type on or in the prosthetic device 10 be arranged to record corresponding physical measured variables. It is also possible that only one such sensor 25th at or in the prosthetic device 10 is arranged.

Also is the prosthetic device 10 at least one biosignal sensor 35 in the form of a muscle signal sensor for detecting at least one muscle signal; in the illustrated embodiment, such a muscle signal sensor is used 35 in the form of collector electrodes for the acquisition of myoelectric signals when muscles are operated. There is also the possibility that bio or muscle signal sensors 35 are fixed on a separate device, for example a prosthesis liner, a cuff, a tensioning element or a brace, which is attached to the forearm stump, the upper arm or another muscle group of the user of the prosthesis device 10 is fixed. In principle, it is also possible to implant sensors or electrodes and derive signals, either via transcutaneous electrodes or via wireless data transmission.

Both the bio or muscle signal sensors 35 as well as the prosthetic hand sensors 25th are with a control device 30th coupled, which in the illustrated embodiment within the prosthesis stump 11 is arranged. The control device 30th has the necessary hardware devices and software devices to receive the signals from the sensors 25th , 35 evaluate and process. These include, in particular, amplifiers, filters, electronic storage devices, processors, at least one energy storage device and suitable interfaces for data exchange and data processing. Microprocessors or computer components are also present in the control device and process the sensor data on the basis of data processing programs that are within the control device 30th are stored or to which external access can be obtained.

The one from the muscle signal sensor 35 sensed muscle signals 36 , for example myoelectric signals, contraction patterns, pressure signals or the like, are in the control device 30th processed and basically serve to actuate the prosthetic hand 20th , especially for activating and deactivating the drives 23 to the fingers 22nd and / or the main body 21 to move. The sensor signals are also used to cause flexion or extension in the wrist. Depending on the design of the mounting, a rotation about the longitudinal axis of the prosthesis shaft can also be achieved 11 by the respective drive 23 respectively.

Within the control device 30th or at the control device 30th are different modes of operation 60 filed with which the prosthetic hand 20th or the prosthetic device 10 can be operated. The operating modes in the form of software programs can also be physically separated from the control device 30th be stored, for example in the prosthetic hand 20th and from there from the control device 30th can be accessed.

In the illustrated embodiment, there are three modes of operation 60 listed, in the upper representation schematically a gripping mode, clockwise from it a selection mode and further a so-called mouse mode. The operating modes 60 can be switched through, i.e. from the first mode to the second, from there to the third and then back to the first mode. Alternatively, a separate signal is assigned to each mode, via which a direct selection is made. Switching between the individual operating modes 60 can about the signals 36 the muscle sensors 35 respectively. Alternatively or in addition, corresponding sensor signals can be sent from the prosthetic hand sensors 25th be generated. For example, if a specific muscle co-contraction pattern is created by the user of the prosthetic device 10 is generated by the normal gripping mode in which the prosthetic hand 20th opened and closed, switched to a selection mode or another grip mode, and switched to mouse mode in the event of a repeated contraction. Likewise, by executing a certain movement of the prosthesis user, by exerting a certain pressure over a certain Duration or with a specific print pattern a corresponding selection can be made.

The prosthetic device is located 10 in the so-called mouse mode, there is an integrated interface 40 activated that connects to a machine 50 receives, which is designed as a computer in the illustrated embodiment. The machine 50 also has an interface 54 on, so that via a transmitter facility 41 wireless corresponding control signals from the prosthesis device 10 on the machine 50 , or transferred to the computer. Via corresponding sensor signals, for example displacement signals from the prosthesis device 10 that have prosthetic hand sensors 25th are recorded, a control signal for an input marker is immediately generated 55 generated, which is designed as a mouse pointer or cursor in the illustrated embodiment. This makes it possible to simply move the prosthesis device and / or to activate muscle signals generated by muscle signal sensors 35 the mouse pointer 55 to control directly and to transmit commands. Without the drives 23 within the prosthetic device 10 to activate objects on a user interface of the computer 50 selected, commands activated, connections established, buttons operated and all other activities carried out that would otherwise have to be carried out via an input device, in particular a computer mouse. This increases the precision of the movement of the input marker 55 or the mouse pointer, so that the prosthetic device 10 directly as an input device for the computer 50 can be used.

Advantageously, during the state in which the prosthetic device 10 as an input device for the computer 50 is used, activation of the drives 23 or motors are prevented, which on the one hand reduces energy consumption and on the other hand avoids unwanted activity with the resulting complications.

In the 2 are two types of data transmission for a prosthetic device 10 on the computer 50 or shown on the respective connected machine. In the illustration on the left there is a wireless signal transmission via the interface 40 with the transmitter 41 to the interface 54 at the computer instead. This can be done, for example, via point-to-point transmission, with the prosthesis device 10 and the machine 50 can be designed as SRD and can transmit in the license-free ISM band. Encryption of the transmitted data is possible, and prior authentication of the respective device or machine is also possible 50 and prosthetic device 10 possible and advantageous, since the recognition of the machine makes it possible to provide operating modes that are adapted to the respective machine. As an alternative to wireless, radio-supported transmission of the control signals, this is done, for example, via a cable 43 , that in corresponding plugs or sockets on the prosthetic device 10 and the machine 50 is plugged in.

A variant of the invention is in 3 shown in which instead of an input on a user interface, in particular a graphical user interface in the machine, a direct control of a machine 50 via the radio-supported interface 40 , 54 he follows. The machine can be designed as a processing machine, in particular as a computer-controlled processing machine, for example a milling machine.

In the 3 is the control of a smart home in the right illustration 50 shown, which is also considered a machine within the meaning of the invention. With the prosthetic device 10 For example, mechatronic components within a house can be activated and deactivated, for example washing machines, dishwashers, heating, ventilation, water supplies, blinds and much more. For this it is not necessary to move the respective drives within the prosthesis device 10 to activate in order to operate physical switches or controllers, rather a corresponding device or a corresponding component can be selected and activated or adjusted in the input mode or selection mode. In the 4th a further variant is shown in which the prosthesis device 10 either directly with the machine 50 is coupled or via a WLAN system within a house with the corresponding machine 50 can be coupled in order to then operate them.

A graphic surface can be controlled, for example, by using an acceleration sensor as a prosthetic hand sensor 35 within the prosthetic hand, for example at the tip of a prosthetic finger 22nd is arranged.

This acceleration sensor is then activated by a movement of the entire prosthetic device 10 moved and activated so that the sensor signals are generated. These sensor signals are integrated over time and a position of the input marker 55 or the cursor is transmitted relative to a start position, so that there is a change in the position of the input marker 55 or the mouse pointer on the user interface is calculated. As an alternative or in addition, a spatial position sensor or an IMU or a combination of several individual sensors can be used to relocate the entire prosthesis device 10 in space as the basis for controlling the machine 50 or an input marker 55 respectively. If the input marker is designed as part of a 3D model or hologram, direct positioning within the 3D model or hologram can take place by changing the spatial position and recording it via a corresponding IMU. From the change in the spatial position of the prosthetic device 10 the corresponding angle values and displacement values are used to change the position of the input marker 55 calculated and the respective machine 50 transmitted.

In addition to a mode for moving a mouse pointer of a graphical user interface or for moving an input marker, a mode for changing a setting, a mode for a selection function and / or a mode for an activation function can be stored in the control device as an application of the prosthesis device as an input device.

Claims (16)

Prosthetic device (10) with a prosthetic hand (20) with a base body (21) and at least one motor-adjustable finger (22) movably mounted thereon, with at least one prosthetic hand sensor (25) assigned to the prosthetic hand (20), wherein the prosthetic hand sensor (25) is selected from a group comprising acceleration sensors, gyroscopic sensors, IMU, pressure sensors, magnetometers, optical sensors, infrared sensors and / or a combination thereof, as well as at least one biosignal sensor (35) for detecting at least one biosignal, the sensors (25, 35) are coupled to a control device (30), characterized in that the prosthesis device (10) has at least one interface (40) to a machine (50) and different operating modes (60) are stored in the control device (30), which over Signals from the sensors (25, 35) can be selected, with the prosthesis device (10) acting as an egg in at least one operating mode (60) input device for the machine (50) acts. Prosthetic device according to Claim 1 , characterized in that the interface (40) is designed as a wireless interface with a transmitter (41) or is designed as a wired interface. Prosthetic device according to Claim 1 or 2 , characterized in that at least one acceleration sensor (25) is coupled to the control device (30), the sensor signals of which are integrated over time and thus the position of an input marker (55) is determined relative to a starting position. Prosthetic device according to one of the preceding claims, characterized in that at least one IMU (25) is coupled to the control device (30), from whose sensor signals the spatial orientation of the prosthetic device (10) is calculated and position values, in particular angular values, are calculated from changes in the spatial position of the prosthetic device (10) Change in the position of the input marker (55) can be calculated. Prosthetic device according to one of the preceding claims, characterized in that the biosignal sensors (35) are designed to detect muscle contractions and are set up to switch the operating modes (60). Prosthetic device according to one of the preceding claims, characterized in that the functions of the input marker (55) include signals from the biosignal sensors (35) for detecting muscle contractions and / or signals from at least one prosthetic hand sensor (25), in particular gyroscope, IMU, magnetometer, pressure sensor and / or Accelerometer are assigned. Prosthetic device according to one of the preceding claims, characterized in that a mode for moving a mouse pointer (55) on a graphical user interface or for moving an input marker (55), a mode for changing a setting, a mode of a selection function and / or a mode of a Activation function of an application is stored in the control device (30). Method for operating a prosthetic device (10) according to one of the preceding claims, in which different operating modes (60) are selected via sensor signals, characterized in that the operating mode (60) is an input mode for transmitting and moving an input marker (55) for a machine ( 50) is selected by a sensor signal. Procedure according to Claim 8 , characterized in that the input mode (60) is selected via pattern recognition of a muscle contraction and / or at least one co-contraction and / or through recognition of a movement pattern of the prosthetic device (10). Procedure according to Claim 8 or 9 , characterized in that acceleration signals of the prosthesis device (10) are transmitted to the control device (30) and integrated over time, the relative movement of the prosthesis device (10) is projected onto a plane and from it a command for the movement of the input marker (55) is determined. Method according to one of the Claims 8 until 10 , characterized in that the spatial orientation of the prosthetic device (10) is calculated from sensor signals from an IMU and commands for changing the position of the input marker (55) are calculated from changes in the spatial position of the prosthetic device (10). Method according to one of the Claims 8 until 11 , characterized in that functions of the input marker (55) are activated via biosignal sensors (35) for detecting muscle contractions and / or signals from at least one prosthetic hand sensor (25), in particular gyroscope, IMU, magnetometer, pressure sensor and / or acceleration sensor. Method according to one of the Claims 8 until 12th , characterized in that a drive (23) of the prosthetic hand (20) is blocked in the input mode (60). Method according to one of the Claims 8 until 13th , characterized in that control signals for the input marker (55) are transmitted to the machine (50) via the interface (40) only in the input mode. Method according to one of the Claims 8 until 14th , characterized in that an interrupt mode is activated via a signal pattern in which neither drives (23) nor the input marker (55) are moved. Method according to one of the Claims 8 until 15th , characterized in that the sensor data are used to move a mouse pointer (55) on a graphical user interface, to change a setting variable, to select and / or to activate an application outside the prosthetic device (10).

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