DE102023000095A1 - Controlling a prosthesis - Google Patents

Abstract

Method for controlling a prosthesis of the upper extremity (2, 30), wherein the position of the hand (10) opposite the prosthesis and/or of a part of the hand is detected and the prosthesis (2, 30) is controlled in relation to the position of the hand (10).

Description

Field of the invention

The present invention relates to a method for controlling a prosthesis according to the preamble of the first independent claim and a prosthesis according to the preamble of the attached independent claim.

introduction

Prostheses are used to replace body parts and/or to support these body parts. Prostheses are understood to include exoprostheses but also orthoses and exoskeletons. In particular, prostheses are understood to include leg, leg part and/or foot prostheses and/or arm, arm part, hand and/or finger prostheses.

Prostheses can be controlled by switches attached to the prosthesis or by electrodes that detect electrical muscle potentials from muscles.

Task

It is an object of the invention to provide a further method for controlling a prosthesis.

Description of the invention

This problem is solved by a method according to the first independent claim and a prosthesis according to the associated independent claim.

Further advantageous embodiments can be found in the subclaims. The claims are hereby included in the description for better readability.

In particular, the object is achieved by a method for controlling a prosthesis of the upper extremity, wherein the position of a hand that is opposite the prosthesis and/or of a part of the hand is detected and the prosthesis is controlled based on the position of the opposite hand. In the following, the term hand or opposite hand refers to the natural hand of the prosthesis user that is opposite his artificial prosthetic hand.

A hand can also be understood to mean a hand part, an arm part or an arm that is arranged opposite the prosthesis.

It was therefore recognized that a prosthesis of the upper extremities can be controlled by recognizing the position of the hand opposite the prosthesis. In particular, the prosthesis can be controlled by recognizing certain hand gestures that are generated by hand and/or arm movements. The gestures can simulate the operation of a controller or switch and thus control the prosthesis. Different movement modes and states, such as on or off, of the prosthesis can also be selected using the gestures of the hand opposite the prosthesis.

The position can include the position of the hand and/or parts of the hand and/or the arm in space and/or the position of the hand and/or parts of the hand relative to another body part of the user. In particular, the position can include at least one hand gesture.

The prosthesis can be an arm, arm part, hand, hand part or finger prosthesis.

The position may include a movement of the hand and/or the handle and/or the arm. The position may also include one or more gestures.

In particular, the prosthesis can be controlled to mimic and/or mirror the position and/or movement of the hand and/or the handle and/or the arm.

The prosthesis can be controlled in such a way that the movement of the prosthesis is reduced or increased compared to the movement of the hand.

The movement of the prosthesis can also be delayed compared to the movement of the hand.

It is also possible to combine the above-mentioned types of control. For example, the movement of the prosthesis can be reduced in size compared to the movement of the hand and can be delayed and/or mirrored.

This allows the position and/or movement of the prosthesis to be controlled easily and/or intuitively.

By positioning and/or moving the hand and/or another body part, the imitation of the body part by the prosthesis can be started and/or stopped.

In this way, the prosthesis can be controlled instead of and/or in addition to other control devices.

The prosthesis may comprise a means for detecting the position of the hand and/or the arm and/or an arm part and/or a hand part which is opposite the prosthesis, wherein the means for detecting the position is at least functionally connected to a control means of the prosthesis for signal transmission.

The means for detecting the position of the hand and/or a hand part from the prosthesis may comprise at least one camera.

A means for detecting the position of this hand can also be arranged on the hand and/or hand part and/or arm and/or arm part opposite the prosthesis, wherein the means for detecting the position is at least functionally connected to a control means of the prosthesis for signal transmission. This means for detecting the position of the hand and/or a hand part can comprise at least one acceleration sensor and/or a gyroscope.

The invention is further explained below using an embodiment with the aid of the figures.

• 1 einen Prothesenträger mit einer Prothese,
• 2 ein Flussdiagramm, welches das Verfahren zur Steuerung darstellt.
• 3 einen Orthesenträger mit einer Orthese und eine Person, die ein Exoskelett trägt.

It shows:

• 1 a prosthesis wearer with a prosthesis,
• 2 a flow chart illustrating the control procedure.
• 3 a person wearing an orthosis and a person wearing an exoskeleton.

1 shows a prosthetic device 1 comprising a hand prosthesis 2 and a finger ring 3. The finger ring 3 is placed on a finger 9 of a hand 10 of the prosthesis user 7. The finger ring 3 is connected to the hand prosthesis 2, in particular to a control device 11, via a wireless connection, such as Bluetooth.

The control unit 11 can be functionally connected to one or more electric motors that move the prosthesis, for example the wrist prosthesis 13, the thumb element 14 and/or a finger element 15, 16, 17, 18. Application to the elbow or shoulder joint and other axes of movement of the arm is also possible.

The hand prosthesis 2 comprises a prosthesis shaft 8, which connects the hand prosthesis 2 to a forearm 6 of the prosthesis user 7. The prosthesis shaft 8 has a proximal opening 12 through which the forearm 6 can be pushed into the prosthesis shaft 8. The prosthesis shaft 8 encloses the forearm 6 at least partially axially.

The hand prosthesis 2 also has a wrist prosthesis 13, wherein the wrist prosthesis 13 is connected proximally to the prosthesis shaft 8 and distally to a hand prosthesis base element 5. The hand prosthesis base element 5 corresponds at least partially in shape and/or function to the palm of the hand. A thumb element 14 is arranged laterally on the hand prosthesis base element 5 and four finger elements 15, 16, 17, 18 are arranged distally.

The finger ring 3 can enclose the finger 9 of the prosthesis user 7. The finger ring 3 can be worn on the proximal phalanx of the finger 9.

In one embodiment, the prosthesis user 7 can wear a smartwatch 4 and/or an electronic device on the wrist 19, wherein the smartwatch 4 can have a functional connection to the finger ring 3. The functional connection can be suitable for sending data from the finger ring 3 to the smartwatch 4 and/or data from the smartwatch 4 to the finger ring 3.

The data connection between the finger ring 3 and the smartwatch 4 can be based on a cable connection between the finger ring 3 and the smartwatch 4 or it can be wireless. In the case of a wireless connection, data protocols such as the WLAN protocol or Bluetooth can be used.

Furthermore, the smartwatch 4 can also be functionally connected to the hand prosthesis 2, in particular a control element 11 of the hand prosthesis 2, by means of at least one wireless data line.

Furthermore, the prosthesis user 7 can carry a smartphone 20 with him, which is functionally connected to the finger ring 3 and/or the smartwatch 4 and/or the hand prosthesis 2. For example, parameters of the finger ring 3 and/or the smartwatch 4 and/or the hand prosthesis 2 can be displayed and/or recorded on the smartphone 20.

2 shows a flow chart illustrating the procedure for controlling the prosthesis and/or orthosis.

In step S1, the position of the hand opposite the prosthesis and/or orthosis is detected via a position sensor. The position sensor can be, for example, a camera that takes one or more pictures of the hand. The camera can be attached to the prosthesis and/or orthosis or separately on the body of the prosthesis or orthosis user and/or be located in a watch, smartphone or similar. Such a camera can also capture images in the infrared range. A radar transmitter and/or receiver unit is also possible.

The position sensor can also be an acceleration sensor and/or a gyroscope. These sensors make it possible to record the position and change in position of a finger or a finger joint or part of the hand. The sensors can be placed on the forearm and/or on the hand and/or on one or more fingers on the hand to be recorded, which is opposite the prosthesis and/or orthosis. The sensors can be located in a bracelet or a watch or a finger ring.

It is also possible to place transmitters on the fingers or on parts of the hand opposite the prosthesis and/or orthosis, so that the position and/or movement of the transmitters can be detected by one or more receivers.

If the position sensor and/or motion sensor or an evaluation device connected downstream of the position sensor and/or motion sensor detects a specific position and/or movement or a specific gesture of the hand (S2), such as a short, rapid rotation of the wrist followed by a short, rapid rotation of the wrist in the opposite direction, one or more signals are sent to the control element of the prosthesis and/or orthosis so that the prosthesis and/or orthosis reacts to subsequent movement signals from the opposite hand. An electromotor wrist of the prosthesis can then be rotated in a mirrored manner in the same way as the controlling hand is moved, the position and/or movement of which in space or relative to the prosthesis and/or orthosis is detected (S3).

Such a start signal can also be given by pressing a switch that is attached to a finger ring, for example.

The position of the prosthesis and/or orthosis and/or the gestures and/or the types of grip and/or the opening and closing of the prosthesis and/or orthosis are modeled or interpreted or translated according to the position and/or the movement commands and/or the grip switching commands of the opposite hand as long as no abort signal is detected (S4).

The prosthesis and/or orthosis can be moved in accordance with the movement of the opposite hand, part of the hand, arm and/or part of the arm, or in a mirror image, or the movements can be made smaller or larger compared to the movement of the opposite hand, part of the hand and/or arm. The movement of the prosthesis and/or orthosis can also be delayed in relation to the movement of the hand, part of the hand, arm and/or part of the arm.

Combinations of movements are also possible.

If a termination signal is detected (S5), the prosthesis and/or orthosis remains in the last position and can continue to be controlled by electrodes and/or switches and/or other input devices. The termination signal can correspond to the start signal or be the actuation of another switch or another gesture.

3 shows a person 7 with an orthosis or an exoskeleton 30. The orthosis 30 can serve, among other things, to support the elbow joint 31.

The orthosis 30 has an elbow orthosis 47 with an elbow hinge 32 that allows the movement of the orthosis 30 according to the movement of the elbow joint 31, a wrist orthosis 40, a thumb orthosis 41, a first finger orthosis 42, a second finger orthosis 43, a third finger orthosis 44 and a fourth finger orthosis 45. The elbow hinge 32 is moved by an electric motor 33. The elbow hinge 32 connects a proximal orthosis part 34 to a distal orthosis part 35. The proximal orthosis part 34 has a shoulder strap 46 and a first holder 36 that connects the proximal orthosis part 34 to an upper arm 37 and/or the shoulder of the orthosis wearer 7. The distal orthosis part 35 has a second holder 38 which connects the distal orthosis part 35 to a forearm of the user 7.

The electric motor 33 can be functionally connected to a control means 39, for example by a wired and/or wireless connection. The control means can be integrated in the orthosis 30 and/or arranged on the orthosis 30 and/or arranged at a distance from the orthosis 30. The control means 39 can consist of one unit or of several units, which can also be arranged in a distributed manner.

The control means 39 is designed in such a way that it sends control signals to the at least one electric motor 33. The electric motor 33 can the distal orthosis part 35 pivots relative to the proximal orthosis part 34 about the elbow hinge 32. It is possible that further joints, such as a wrist element and/or thumb and finger joints, are integrated in the orthosis and are moved either by the prosthesis wearer 7 or by the electric motor 33 and/or by further electric motors.

The control means 39 can be functionally connected to a position detection means which transmits a signal, which is formed in relation to the position of the arm and/or the hand of the orthosis user 7, to the control means 39.

The wrist orthosis 40 can also be moved with an electric motor, but the drawing shows the wrist orthosis 40 in a passive version. The wrist orthosis 40 is moved, for example, by the opposite arm.

The thumb orthosis 41 and the finger orthoses 42, 43, 44, 45 are moved by an electric motor 48, which is arranged on the back of the hand orthosis. The electric motor 48 can also consist of several individual motors, whereby the individual motors can be assigned to the respective thumb and/or finger orthoses for movement. The electric motor 48 can be controlled via the control means 39.

The position detection means can, for example, comprise a smartwatch that is arranged on the wrist of the orthosis user 7 opposite the orthosis 30 and/or a ring 3 with a position detection device that is arranged on a finger 9 of the hand 10 that is opposite the orthosis 30. The ring 3 can be connected to the smartwatch 4 that is located on the wrist 19 via a wireless connection.

The position detection means can detect the position of the hand 10, the arm or parts of the arm and control the elbow orthosis 47, the thumb orthosis 41 or the finger orthoses 42, 43, 44, 45 based on the position. This also applies to the wrist orthosis 40 if it can be actively moved. The orthosis 30 can thus be controlled in such a way that the movement/position of the arm and/or part of the arm and/or the hand 10 and/or part of the hand 10 is imitated, possibly imitated in mirror image.

Reference symbols

1

Prosthetic device

2

Hand prosthesis

3

Finger ring

4

SmartWatch

5

Hand prosthesis base element

6

forearm

7

Prosthesis/Orthosis users

8th

Prosthetic stem

9

finger

10

hand

11

Control unit

12

opening

13

Wrist prosthesis

14

Thumb element

15

Finger element

16

Finger element

17

Finger element

18

Finger element

19

wrist

20

Smart phones

30

Orthosis/Exoskeleton

31

Elbow joint

32

Elbow hinge

33

Electric motor

34

Proximal orthosis part

35

Distal orthosis part

36

First bracket

37

upper arm

38

Second bracket

39

Tax funds

40

Wrist orthosis

41

Thumb orthosis

42

Finger orthosis

43

Finger orthosis

44

Finger orthosis

45

Finger orthosis

46

Shoulder strap

47

Elbow orthosis

48

Electric motor

S1

first step

S2

second step

S3

Third step

S4

fourth step

S5

fifth step

Claims (10)

Method for controlling a prosthesis (2, 30) of the upper extremity, characterized in that the position of the hand (10) which is opposite the prosthesis (2, 30) and/or of a part of the hand is detected and the prosthesis (2, 30) is controlled in relation to the position of the hand (10). Method according to one of the preceding claims, characterized in that the position of the hand (10) and/or parts of the hand (10) in space and/or the position of the hand (10) and/or parts of the hand (10) relative to another body part of the user (7) is detected. Method according to one of the preceding claims, characterized in that the prosthesis (2,30) is an arm, arm part, hand, hand part or finger prosthesis. Method according to one of the preceding claims, characterized in that the position comprises a movement of the hand (10) and/or the handle. Method according to one of the preceding claims, characterized in that the prosthesis (2, 30) is controlled such that it imitates and/or mirrors the position and/or movement of the hand (10) and/or the hand part. Method according to one of the preceding claims, characterized in that the movement and/or the imitation of the body part by the prosthesis (2, 30) can be started and/or ended by a position and/or movement of the hand (10) and/or another body part. Method according to one of the preceding claims, characterized in that the detection of the position is carried out contactlessly. Method according to one of the preceding claims, characterized in that the position is detected via an acceleration sensor and/or a gyroscope sensor. Prosthesis of the upper extremities (2, 30), characterized in that the prosthesis (2, 30) comprises a means for detecting the position of the hand (10) and/or a hand part which is opposite the prosthesis (2, 30), wherein the means for detecting the position is at least functionally connected to a control means (11, 39) of the prosthesis at least for signal transmission. Prosthesis (2, 30) according to the preceding claim, characterized in that the means for detecting the position of the hand and/or a hand part comprises at least one camera and/or a gyroscope and/or a position sensor and/or a motion sensor.

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