JP6472607B2 - Apparatus and method for supporting human body using excess artificial limb - Google Patents

Description

  The present invention relates to a device having an excess artificial limb that can be positioned based on the load of a human body. Specifically, the device can manipulate the artificial limb based on the load to support, fix, or stabilize the human body.

  Free-standing instruments have been used for many years to support the human body. For example, an elderly person may use a cane or a walker to prevent a fall when moving. Older people do not attach or join any part of these devices to their bodies. In addition, skillful use of these instruments depends on the user's ability. The user must position the devices based on where the user subjectively believes that the cane or walker will be for him. Also, if the user's power is weakened, the appliance cannot prevent the user from falling. Thus, these self-supporting devices only provide limited assistance to the user.

  Robotic exoskeleton suits have also been used to supplement healthy and weakened extremities of the human body. When a user wears an exoskeleton, the device often attaches along the entire length of the user's limb and physically contacts the entire user's limb. Because of this physical coupling, the position of the exoskeleton is completely constrained by the movement chosen by the user. Also, if the exoskeleton offsets its weight and the user's weight, the exoskeleton must do so starting from the joint angle (knee joint, ankle joint) of the user's posture. Undesirably, these requirements cause a significant amount of power to be consumed by the exoskeleton.

  In accordance with one embodiment of the present invention, the device includes at least one excess artificial limb and a base structure configured to couple with the human body. The base structure includes a sensor that obtains measurements related to the load on the human body. The proximal end of the excess limb is coupled to the base structure. The apparatus further includes a processor operably coupled to the sensor and configured to receive measurement results from the sensor. The processor is also configured to generate a control signal to change at least one of the position of the excess artificial limb and the torque provided by the excess artificial limb based on the measurement related to the load.

  The processor may also be configured to generate control signals for positioning the excess artificial limb to secure, support or stabilize the human body.

  In some embodiments, the proximal end of the excess prosthesis and the base structure are joined by a ball joint. In particular, the excess artificial limb may include a rotary joint and a linear joint. The distal end of the excess limb may include a hook or friction end face. The excess artificial limb may also include an actuator that receives a control signal from the processor and activates the joint to change the position of the excess artificial limb based on the signal. For example, the actuator may actuate the rotary joint to change the angle of the rotary joint. In another example, the actuator may actuate a linear joint to change the extension of the excess artificial limb. Furthermore, the actuator may actuate the joint to provide an amount of torque based on a control signal from the processor.

  In accordance with another embodiment of the present invention, the method assists the human body with excess artificial limbs. Therefore, the method receives a measurement of the load on the human body and based on the measurement, of the position for the excess artificial limb and the torque that the excess artificial limb should exert to support at least a portion of the load. Determine at least one. The method then sends a control signal based on the determined position or torque.

  In some embodiments, the load measurement is related to the joint angle of the human limb, the position of the center of mass of the human body, the force on a portion of the human body, or any combination thereof.

  The method may determine a position or torque for the excess artificial limb to secure, support, or stabilize the human body. In various embodiments, the method determines a position where the force exerted by contact of the distal end of the excess prosthesis with the environment is directed to the center of the ball joint of the excess prosthesis, thereby preventing rotation of the ball joint. May be. The method may determine a plurality of possible positions for the excess artificial limb. In these possible positions, the distal end of the excess prosthesis can contact the surface of the environment when the excess prosthesis is moved to its possible position. The method may select one position from a plurality of possible positions.

  The method may determine the position of the excess artificial limb based on the center of mass of the human body and at least the position of the limb of the human body. In addition, the method may determine the amount of support provided to the center of mass of the human body by a specific position of the artificial limb and the position of the human limb for each position at a plurality of possible positions for the excess artificial limb. Good. The method may select a position associated with the maximum support amount.

  In some embodiments, a support area for the center of mass of the human body may be determined for each position at a plurality of possible positions for the excess artificial limb. The support area may be bounded by a specific position of the excess artificial limb and the position of the human limb. The method may select a position associated with the support area having the largest area.

  The method may also determine at least one of a force and a torque applied to a certain part of the human body. The force can correspond to the force required by the human body to maintain the human body in a certain posture. The method may also determine, for each position of a plurality of possible positions for the excess artificial limb, the amount of force provided by the excess artificial limb when the excess artificial limb is moved to that position. In addition, the method may select a location that is associated with the maximum amount of force to be produced. In many embodiments, the method may determine the amount of force and torque required to maintain the body in that position.

  In some embodiments, the method may send a control signal to an actuator that operates the rotational joint of the excess artificial limb. Alternatively, the actuator may actuate the linear joint of the excess artificial limb.

  The foregoing features of the embodiments will be more readily understood by reference to the following detailed description, taken with reference to the accompanying drawings, in which:

1 shows a schematic view of a device for supporting a human body using an excess artificial limb. 2 illustrates a typical base structure used in the instrument of FIG. 2 illustrates a typical excess artificial limb used in the device of FIG. 2 illustrates an exemplary end effector that may be coupled to the distal end of the excess limb of FIG. 2 illustrates an exemplary end effector that may be coupled to the distal end of the excess limb of FIG. 2 illustrates an exemplary end effector that may be coupled to the distal end of the excess limb of FIG. 2 shows an exemplary embodiment of the device of FIG. 2 shows an exemplary embodiment of the device of FIG. 2 shows an exemplary embodiment of the device of FIG. Figure 2 shows a schematic diagram of typical forces affecting the human body load. FIG. 2 shows a schematic diagram of typical contacts between the instrument of FIG. 1 and the environment. 2 shows a schematic diagram illustrating the support provided to the center of mass of the human body by the excess artificial limb and human leg of the device of FIG. An example of the use of one or more excess artificial limbs that support a human body when approaching a structure is shown. An example of the use of one or more excess artificial limbs that support a human body when approaching a structure is shown. An example of the use of one or more excess artificial limbs that support a human body when approaching a structure is shown. An example of the use of one or more excess artificial limbs that support a human body when approaching a structure is shown. Figure 3 shows a total measurement of the force and torque provided by an excess artificial limb at various positions. Fig. 5 shows a total measurement of the remaining force and torque provided by the human body when the excess artificial limb is moved to various positions. The outline corresponding to the position which contacts the thing in the environment where the excess artificial limb was placed on the graph of FIG. 18 is shown. Figure 6 shows a graph of the total measurement of the remaining force and torque provided by the human body for various positions of the excess artificial limb. FIG. 2 illustrates an example use of the apparatus of FIG. 1 to secure a user relative to a structure in a currently placed environment when the user is stationary, thereby stabilizing the user's position. FIG. 2 illustrates an example use of the apparatus of FIG. 1 to secure a user relative to a structure in a currently placed environment when the user is stationary, thereby stabilizing the user's position. FIG. 2 illustrates an example use of the apparatus of FIG. 1 that secures a user relative to a structure in a currently placed environment when the user is moving, thereby stabilizing the user's position. FIG. 2 illustrates an example use of the apparatus of FIG. 1 that secures a user relative to a structure in a currently placed environment when the user is moving, thereby stabilizing the user's position. FIG. 2 shows an exemplary flow diagram for operation of the instrument of FIG.

  The exemplary embodiment supports a human body load. For example, exemplary embodiments may assist the user by, among other things, supporting, securing, or stabilizing the user's body. As such, these examples include an instrument that positions an excess artificial limb to support at least a portion of the load on the human body. Artificial limbs are coupled to the base structure at one of their ends, but are not coupled to the user's real limb at various locations along their length. As a result, they can position the artificial limb freely regardless of the posture of the user's limb. In other words, these artificial limbs are kinematically independent of the user's real limbs.

  This independence provides a number of advantages over the prior art. First, the device may consider its wider range of possible positions for the prosthesis and determine its position or positions that support as much of the human load as possible and the required torque. . In addition, since the artificial limb is not required to bear the joint angle of the user's body, the artificial limb supports its load from a location where less torque is required, thereby comparing to a conventional artificial exoskeleton. The power consumption of the instrument can be reduced.

  These instruments anticipate many applications. For example, the appliance may stabilize the balance of the user who is walking and reduce the possibility that the user will fall. If the user's power is weakened, the device may reposition the artificial limb to support the user's body. In another application, the instrument allows the user to maintain a posture that would otherwise be tired. Furthermore, the instrument may secure the user's body or may secure the user's body to the structure. In these applications, the device may position the prosthetic limb such that the prosthetic limb effector engages the object in the environment in which the user is currently placed. For example, an artificial limb may have a hook that catches on a handrail or a clamp that grips a bar of a nearby structure. These contacts stabilize the user's body and, in some situations, reduce the possibility of the user falling. In any of these applications, as the user moves, the device may reevaluate the user's body load and update the position and / or torque of the excess prosthesis.

  FIG. 1 shows a schematic diagram of an instrument 100 that supports the load of the human body using an excess artificial limb. The instrument 100 includes a base structure 112 having sensors 105a, 105b, and 105c (collectively referred to as “105”) that sense various data related to the load on the human body together with the processor 110. Base structure 112 and processor 110 are coupled to excess artificial limbs 115 and their respective actuators 118. In some embodiments, the proximal end of prosthetic limb 115 is coupled to base structure 112.

  When the user wears the instrument 100, the sensor 105 measures and sends various values related to the user's body load to the processor 110. For each possible position for the prosthetic limb 115, the instrument 100 determines the extent and method by which the prosthetic limb 115 supports the human body when carrying the load. For example, the processor 110 may determine an aggregate measure of torque and force that the artificial limb 115 exerts on a particular position (eg, an aggregate of torque and force provided by each joint of the artificial limb 115). Good. The processor 110 may then determine a total measurement of the remaining torque and force that the user still needs to exert if the artificial limb 115 is moved to that position and exerts a particular force and torque. In some embodiments, the processor 110 is a joint that, at that particular location, torque and / or force caused by contact of the distal end of the excess prosthesis 115 with the environment couples the prosthesis 115 to the base structure 112. May be directed to the center of the joint, thereby preventing rotation of the joint. This process may be repeated for all of the excess artificial limbs 115 attached to the base structure 112. The processor 110 may select the torque, position, and force for the artificial limb 115 that provides the maximum reduction in effort required by the user.

  Based on these positions, the processor 110 sends a control signal to the actuator 118 of the excess artificial limb 115. In response, the actuator 118 positions the excess artificial limb 115 and manipulates the artificial limb 115 to exert and maintain specific amounts of force and torque. Further, the sensor 105 continuously monitors the user's body load, so that the processor 110 and the actuator 118 continuously update the excess artificial limb 115 to reposition the artificial limb 115, or Adjust the amount of torque and force they exert.

  Each sensor 105 may detect another measurement value related to the load on the human body. For example, the sensor 105 may be configured to determine a joint angle of a part of the human body (eg, wrist, elbow, knee, ankle, buttocks). Further, the sensor 105 may acquire information regarding the position of the center of mass of the human body or the position of the center of mass of the human body and the instrument 100. The sensor 105 may measure a load distribution under the user's body.

  In some embodiments, sensor 105 may be an encoder that measures deflection to sense torque exerted on a site. Another sensor 105 may measure the angle of the human torso with respect to the environmental x-axis. Another sensor 105 may measure the force exerted on a part of the human body such as the user's buttocks. In another example, the sensor 105 may include an inertial sensor such as a MEMS accelerometer or MEMS gyroscope whose output is indicative of a user's body movement. Yet another sensor 105 may obtain information regarding the balance of the user. The exemplary sensor 105 may obtain information regarding the frequency and direction of the user's steps when moving.

  Further, the sensor 105 may include an electromyogram (EMG) sensor. These sensors 105 may include electrodes coupled to the user's skin and configured to measure its voltage. Thus, the EMG sensor 105 may record data relating to muscle activity. The instrument 100 may include any of the sensors 105 described herein in any combination. Further, the instrument 100 may include any number and combination of the sensors 105 described herein as desired.

  The sensor 105 may send the output signal to the processor 110 via any medium commonly used in the art, such as a wireless or wired medium. For example, the sensor 105 may include a wire that connects the output port of the sensor 105 to the processor 110. In another example, the sensor 105 may include a wireless transmitter. In that case, the sensor 105 may transmit the wireless output signal to the processor 110 according to any protocol well understood by those skilled in the art.

  In various embodiments, the instrument 100 operates the artificial limb 115 by sending one or more control signals from the processor 110 to the actuator 118 of the artificial limb 115. Each actuator 118 may be coupled to a different joint in the artificial limb 115. The artificial limb 115 may include one or more joints that allow the artificial limb 115 to be properly positioned in a three-dimensional space. For example, the excess artificial limb 115 may be coupled to the base structure 112 via two rotational joints 120 and 121 as shown in FIG. In this embodiment, one rotary joint 120 allows 180 degrees of rotation about the x-axis, and the other rotary joint 121 allows 180 degrees of rotation about the orthogonal axis.

  However, joints that allow other rotational ranges may be used. For example, in some embodiments, rotational joint 120 (eg, shoulder flexion joint) may allow 270 degrees of rotation and rotational joint 121 (eg, shoulder abduction joint) allows rotation within 90 degrees. May be. In another example, the artificial limb 115 may be coupled to the base structure 112 via a ball joint that also allows rotation of the artificial limb 115 in three-dimensional space. For example, the joint may allow a range of motion of 270 degrees. In any of these embodiments, the joints desirably have a range of motion that allows the distal end of the artificial limb 115 to reach most of the workspace surrounded by the user's limb (eg, arm, leg). Allow. In some embodiments, the rotary joint 120 may exert a torque of up to about 69 Nm, although joints that can exert other torques may be used. A typical actuator 118 for the rotating joints 120, 121 includes a brushless direct current (DC) motor in a gearbox made by Harmonic Drive LLC of Peabody, Massachusetts.

  The artificial limb 115 may also include one or more joints that allow the various components of the artificial limb 115 to expand and contract, thereby changing the overall effective length of the artificial limb 115. For example, the artificial limb 115 may be effectively configured to operate in a manner similar to a telescope. Therefore, the device 100 may include a structure suitable for such a function, such as a linear joint 124 that couples one section of the prosthetic limb 115 to another section. As shown in FIG. 3, actuation of the linear joint 124 may extend one section of the prosthetic limb 115 so that it protrudes up to 18 inches from the other section. In another example, prosthetic limb 115 may include multiple sections, linear joints, and associated actuators. For example, the artificial limb 115 may include two or more cylinders that share the same central axis. The cylinders may have different diameters and they may be configured such that a cylinder with a small diameter fits within a cylinder with a larger diameter. In other words, the cylinders may be concentric. Each of the linear motion joints 124 may couple two cylinders concentrically adjacent to each other, and each of the linear motion joints 124 may be coupled to an actuator 118 that receives a control signal from the processor 110. Based on those signals, the actuator 118 may extend or retract separate sections of the prosthetic limb 115 to control the total length of the prosthetic limb 115.

  In various embodiments, the artificial limb 115 includes one or more rotary joints 120, 121 and a linear joint 124, each coupled to a respective actuator 118. The processor 110 may send separate control signals to the actuator 118. One or more actuators 118 may rotate one end of the prosthetic limb 115 in three-dimensional space (eg, 360 degrees, 270 degrees) to properly position the prosthetic limb 115; The section of the artificial limb 115 may be extended or retracted so that the limb 115 reaches the final desired position. However, the instrument 100 may include any number of rotational joints 120, 121 capable of rotation through various magnitudes of movement, as desired by those skilled in the art, and includes any number of linear motion joints 124. May be included.

  The instrument 100 may also operate the artificial limb 115 to apply and maintain a specific level of force and / or torque at each position. For example, the processor 110 may send one or more control signals to any of the actuators 118 of the artificial limb 115. After the actuator 118 operates the joint to position the artificial limb 115, the actuator 118 may further operate the joint based on the control signal to provide a specific amount of force and / or torque. In some embodiments, the artificial limb 115 includes a sensor 105 that measures pressure on the distal end. The sensor 105 may send information regarding its pressure to the processor 110, which may update the control signal to adjust the force and / or torque exerted by the artificial limb 115.

  The distal end of the prosthetic limb 115 may include things that assist the prosthetic limb 115 in supporting a human body load, such as an end effector that is detachably or non-removably connected. An end effector may be any device that allows an artificial limb to create and maintain firm contact with a currently placed environmental surface. For example, the end effector may have a high coefficient of friction, which allows the artificial limb 115 to exert a force on such a surface. The end effector may have any shape factor such as a cap 128 or sphere with a friction end as shown in FIG. The end effector may include any material having a high coefficient of friction such as rubber. The artificial limb 115 may also be configured to be coupled to a removable and replaceable end effector. Therefore, the user may remove the cap 128 from the artificial limb 115 and replace it with a sphere or any other end effector.

  In some embodiments, the prosthetic limb 115 may include a gripping portion, such as a hook 130 as shown in FIG. In applications where the hook 130 needs to grip an object (eg, a ladder step), moving the artificial limb 115 immediately to the final position may not achieve the desired contact. Instead, the processor 110 may send a series of control signals to the actuator 118 so that the prosthetic limb 115 approaches the final position in a manner that positions the hook 130 about its target. For example, the actuator 118 first lifts the hook 130 over the step, extends the artificial limb 115 beyond the step itself, and lowers the hook 130 so that the hook 130 engages the step. You may withdraw.

  Alternatively, the artificial limb 115 may include an actuating gripper such as the gripper 131 shown in FIG. The artificial limb 115 may include an actuator 118 coupled to the processor 110 and the grip portion 131. Based on the control signal from the processor 110, the actuator 118 may close the grip 131 to secure the grip 131 to the object (eg, by grabbing an object), and may also prosthesis 115 for repositioning. You may open the holding | grip part 131 in order to release. Similar to the embodiment having the hook 130, the processor 110 opens the grip 131 when the artificial limb 115 approaches the desired object, and when the artificial limb 115 reaches its final position. To close 131, a series of control signals may be sent.

  Although the device 100 of FIG. 1 shows two excess artificial limbs 115, the device 100 may include any number of artificial limbs 115. For example, the instrument 100 may include a single artificial limb 115. In some embodiments, the device 100 may include one or more pairs of excess artificial limbs 115. In addition, FIG. 1 schematically illustrates the base structure 112 as a rectangular box having two artificial limbs 115 coupled to both sides of the rectangular box. However, the base structure 112 may have any shape or configuration desired by those skilled in the art. For example, the base structure 112 may include a surface that follows the shape of a human buttock. Alternatively, the base structure 112 may include a flexible tube configured to mate with the user's spine.

  The artificial limb 115 may also be coupled to the base structure 112 at any desired location. In some examples, the artificial limb 115 may be positioned along the length of the base structure 112. Therefore, if the base structure 112 is a flexible tube that fits the user's spine, the excess prosthetic limb 115 is positioned over that tube to couple each of the prosthetic limbs 115 to different locations in the user's spine. May be. In some embodiments, two prosthetic limbs 115 may be coupled to the base structure 112 at the same location, and when the user wears the base structure 112, one prosthetic limb 115 may be It may be arranged so that it extends to the right and the other extends to the left of the user. Other examples of a base structure 112 having various shape factors and various numbers of prosthetic limbs 115 coupled to different locations of the base structure 112 are also contemplated herein.

  Furthermore, although the instrument 100 has been described as having a single processor 110, the instrument 100 may include any number of processors 110. In particular, the processor 110 may include a single core or multiple cores. The instrument 100 may use any number or any type of processor 110 capable of executing a control algorithm for the excess artificial limb 115.

  7 and 8 show various views of an exemplary embodiment of the instrument 100 shown in FIG. In FIG. 7, the device 100 is spread flat on the surface, and in FIG. 8, the excess artificial limb 115 is rotated so that it is perpendicular to the base structure 112. In addition to housing the processor 110 and sensor 105 within the base structure 112, this embodiment also includes a waist brace 133 configured to be coupled to the user's waist. The artificial limb 115 is coupled to the base structure 112 via two rotational joints 120 and 121. The operation of the rotary joints 120 and 121 rotates the artificial limb 115 in a three-dimensional space. The artificial limb 115 includes a linear joint 124. The operation of the linear joint 124 causes a part of the artificial limb to expand and contract. In addition, the artificial limb 115 has a rubber sphere 135 that is coupled to its distal end. These spheres 135 provide high friction contact with the surface in the environment.

  FIG. 9 shows another exemplary embodiment of the instrument 100 shown in FIG. In this embodiment, the base structure 112 is coupled to a harness 147 having a waist belt and a strap. The user can pass the strap through his arm and tie a waist belt around his buttocks thereby connecting the harness 147 to his back. Thus, when the instrument 100 is worn, the base structure 112 is positioned near the user's waist. Further, in this embodiment, artificial limb 115 is coupled to base structure 112 via ball joint 148. The operation of the ball joint 148 rotates the artificial limb 115 in a three-dimensional space. The artificial limb 115 includes a linear motion joint 124, and the operation of the linear motion joint 124 causes a part of the artificial limb to expand and contract.

  Considering the operation of the instrument 100 here, the instrument 100 may first determine the load required to support the human body in a particular posture. If the user does not help with the instrument 100, the user must exert sufficient force and torque to support his weight and to counteract environmental and situational forces and torques. For example, if the user is operating a tool, the user must counter the reaction that the tool generates. If the user is in a wind tunnel, the user must counter the wind to stay upright. Since the user maintains his / her body in a certain posture with his / her legs, the cumulative force and torque corresponding to the load on the user's body may be represented by cumulative measurements at the user's buttocks. . In some embodiments, these cumulative measurements may account for not only the torque around the user's buttocks, but also the gravity and inertial loads of both the human body and the instrument 100 at the user's buttocks.

  The processor 110 may determine a load based on the output from any type or combination of sensors 105 described above. In one example, FIG. 10 illustrates a typical measurement that contributes to human load that can be detected by one or more sensors 105. For example, human torso angle 150, knee angle 151, ankle angle 152, center of mass acceleration, and center of mass position 153 with respect to the x-axis of the environment may all be detected by sensor 105, or they may be It may be determined by the processor 110 using 105 outputs.

  After determining the load, in some embodiments, the device 100 identifies a set of positions that allow the excess artificial limb 115 to contact the currently placed environment. In this way, the instrument 100 may exclude many positions from consideration. This is because only the position that provides contact between the artificial limb 115 and the environment can support at least a portion of the body load. For example, as shown in FIG. 11, if the user is standing on a flat surface, the instrument 100 may determine a position on the ground within the range 154 of the excess artificial limb 115. In another example, if the user is standing in front of a workstation, the instrument 100 may determine the position on a workstation that is within reach of the artificial limb 115 in addition to the position on the ground. Similarly, the instrument 100 may locate on the wall behind the user where the artificial limb 115 can contact.

  In various embodiments, the instrument 100 may include a camera that acquires an image of the currently placed environment. The processor 110 may analyze the images to detect objects and determine their relative position with respect to the base structure 112. In some examples, the processor 110 determines the distance of the object from a particular location on the base structure 112 and the angular displacement relative to that location. Since the instrument 100 can position the artificial limb 115 relative to various locations on the detected object, the processor 110 may determine and store multiple distances and angular displacements corresponding to those locations. For example, the instrument 100 may detect the position of individual steps relative to the base structure 112 when the user is climbing a ladder. If the user is standing near the fence, the instrument 100 may detect the positions of the posts relative to the base structure 112 and the positions on those posts.

  The instrument 100 may position the excess artificial limb 115 to achieve different goals for each user. In one example, the instrument 100 may increase the stability of the user's body. As an example, FIG. 12 conceptually illustrates how positioning of the artificial limb 115 improves user stability when the user is walking. As shown in the left figure, when the user is not wearing the instrument 100, the user's torso is mainly supported by his / her legs. The position of the user's leg and the center of mass of the user's body define an area 155 where support is provided to the user's torso. This region 155 may be represented as a polygon having various angles. As shown in the right figure, when the user wears the device 100, the user's torso is supported by both the leg and the artificial limb 115, and another region 156 where support is provided to the user's torso. Determine. Since this region 156 covers a polygon with a more uniform angle, the region 156 provides greater stability to the user's body. Thus, by positioning the excess prosthetic limb 115 so as to contact the ground opposite the position of the user's leg, the device 100 improves the stability of the human body and prevents the user from tripping over. May be.

  In this case, to determine a position for the excess limb 115, the instrument 100 may first determine the position of the leg using any sensor 105 and any method described herein. In some embodiments, for each possible pair of positions for the prosthetic limb 115, the instrument 100 may measure the angle of the polygon 156 formed by the possible position of the prosthetic limb 115 and the actual position of the user's leg. May be determined. The instrument 100 may select the position of the artificial limb corresponding to the polygon 156 having the smallest angular range. In other examples, the instrument 100 may determine the surface area of the polygons 156 and select a position corresponding to the maximum surface area. The device 100 may determine the force and / or torque that the artificial limb 115 applies based on the load of the human body.

  Instrument 100 may also include a sensor 105 that measures the frequency and direction of the user's steps. Further, the instrument 100 may include a sensor 105 that estimates the user's stride. The processor 110 may use this information to continuously update the position of the excess artificial limb 115, thereby predicting a position that will stabilize the user's body.

  Another potential purpose of the instrument 100 is to support the user's body in a predetermined posture. In order to complete various tasks, the user may need to take an attitude that requires continuous efforts to maintain it. For example, the user may squat down, crouch down, or extend toward the ceiling. As a result, the user's legs may become tired before the user finishes his or her work. In such a situation, the instrument 100 positions the excess artificial limb 115 to support the load on the user's body, thereby taking some of the user's effort required to maintain the user's body in that position. You may make it soften.

  For those purposes, FIGS. 13-16 illustrate exemplary positions for an artificial limb 115 that supports a user in a hard position close to a structure, such as an aircraft structure. In FIG. 13, the instrument 100 positions a single prosthetic limb 115 to engage its structure at a particular location. In FIG. 14, the instrument 100 positions a single artificial limb 115 to support the user by contact with the ground. In FIG. 15, the instrument 100 positions two artificial limbs 115 to support the user by two contacts with the ground. Finally, in FIG. 16, instrument 100 positions two artificial limbs 115 such that hook 130 engages a bar on the structure above the user's buttocks to provide support to the user's torso. .

When selecting a position for the excess artificial limb 115 in these cases, the instrument 100 determines a position that minimizes the effort required by the user to maintain the user's body in the desired posture. The set of forces and torques required to support the user's body in that posture can be expressed as Eext. As described above, this overall measurement can be based at least on the weight of the user and the instrument 100 and can at least account for the gravitational load that is effectively associated with the center of mass of the user and the instrument 100. In some embodiments, the gravity load may be effectively associated with the center of mass of the user, the instrument 100, and any tool or accessory on the instrument 100. The overall measurement may also account for the cumulative torque around the user's buttocks. This set may be borne by the effort E _U by the user's leg and the effort E _SAL by the excess artificial limb 115. Therefore, Eext = E _U + E _SAL .

E meet various combinations this relationship of the values of _U and E _SAL, may allow users to maintain a posture that the user's body. Also, the various positions, forces, and torques of the excess artificial limb 115 can alleviate the user's effort requirements to varying degrees. For example, instrument 100, the position of the excess artificial limb 115 with a maximum amount of E _SAL, force, and determines the torque, thereby effort E _{U (eg} force, torque) required for the user may be minimized.

To identify this position, for each possible position that the artificial limb 115 can take, the processor 110 determines an overall measurement of the force and torque exerted by the artificial limb 115 at that particular position. For the example shown in FIGS. 13 and 14 where a user is positioned in front of an aircraft structure, a total measurement of the force and torque exerted by the prosthetic limb 115 at various locations is shown in FIG. The overall measurement may be expressed as the sum of the force and torque provided by each joint of the excess artificial limb 115. Therefore, the graph of FIG. 17 shows the value of _ESAL for various potential positions of the artificial limb 115.

Thereafter, for each possible position, the processor 110 determines a total measurement of the force and torque that the user needs to exert when the artificial limb 115 is moved to that position. For the example shown in FIGS. 13 and 14, a total measurement of the remaining force and torque that the user needs to exert is shown in FIG. Therefore, the graph of FIG. 18 shows the value of _{E U} (i.e. _{Eext-E SAL)} for a variety of potential locations of the artificial limb 115. In addition, this graph reveals possible location areas for the prosthetic limb 115 that reduce the user's required effort.

  However, in order to actually provide support to the user, the instrument 100 must position the artificial limb 115 at a location where the artificial limb 115 contacts a surface in the user's environment (in this case, the aircraft structure or the ground). Don't be. Accordingly, the instrument 100 identifies possible positions for the prosthetic limb 115 to actually make such a contact. Therefore, FIG. 19 superimposes the outline of potential contacts in the user's current environment on the graph of FIG. 18, and the force required by the user when the artificial limb 115 is moved to various positions. Is illustrated. One arc 160 in the outline corresponds to a position on the aircraft structure that is within reach of the artificial limb 115, and the other arc 161 corresponds to a position on the ground within the range that the artificial limb 115 can reach. To do.

  At these locations, processor 110 determines which location removes the maximum amount of effort from the user. FIG. 20 shows a graph of the remaining effort required by the user for various potential positions of the excess prosthesis 115, as collected in FIG. In this graph, the circle identifies a position for the prosthesis 115 that corresponds to the minimum of the remaining effort required by the user for each surface. For example, the left circle 162 corresponds to a position on the aircraft structure that minimizes the remaining load supported by the user, and the right circle 163 corresponds to a position on the ground that minimizes this load. . In some embodiments, a position that requires the excess prosthesis 115 to exert less force and torque is selected if different positions result in the same drop in load.

  In another example, the instrument 100 may estimate the user's muscle fatigue and position the artificial limb 115 to reduce this fatigue as much as possible. For example, the processor 110 may estimate various muscle fatigues based on the load on the human body and data about the body position collected from the sensor 105. In another example, the processor 110 may collect data from the EMG sensor 105 positioned on the user's body and determine fatigue of a particular muscle coupled to the EMG sensor 105. The processor 110 may evaluate the potential position of the excess artificial limb 115 to determine a position that reduces muscle fatigue as much as possible.

  Another potential purpose of the instrument 100 is to secure the user's body with objects in the environment in which it is currently placed, thereby improving body stability. 21-22 show that the instrument 100 positions the prosthetic limb 115 such that the instrument 100 has a hook 130 at the distal end of the excess prosthetic limb 115 and the hook 130 engages an object in the surrounding environment. An example of use is shown. This engagement provides additional contact between the user and the environment, thereby stabilizing the user's body within the environment. Such fixation may reduce the likelihood that the user will fall from, for example, a platform or other scaffold. In another example, the fixation may suppress disturbance of the user's body. If the user is in a wind tunnel, securing the user's body to the structure may help the user stay in place, for example.

  In these embodiments, the instrument 100 uses a camera to acquire images of the environment in which the user is currently placed, analyzes those images to detect what the artificial limb 115 can engage, and the base. The distance and angular displacement of the object relative to the structure 112 may be determined. Because the instrument 100 attempts to secure the user's body, the instrument 100 may attempt to locate a position for the prosthetic limb 115 that is symmetric about the user's body centerline. As shown in FIG. 21, when the user is standing on the platform, the artificial limb 115 may be positioned such that the hook 130 engages the pole on the left and right sides of the user. Similarly, as shown in FIG. 22, when the user is standing in front of the structure, the artificial limb 115 is engaged with the bar and the hook 130 in the structure at a position equidistant to the left and right of the center line of the user. May be positioned to match.

  After the instrument 100 has processed the image and obtained information about the position at which the prosthetic limb 115 is in contact with the environment, the processor 110 may identify a potential pair of positions for the prosthetic limb 115 that is symmetric about the user centerline. Their position may be evaluated to identify Referring again to FIG. 21, processor 110 identifies two poles that are equidistant to the left and right of the user, and then a potential location along the height of those poles (eg, the user on both poles). May be located 4 inches, 8 inches, or 12 inches below the heel. Similarly, using the example of FIG. 22, after instrument 100 detects horizontal bars in an aircraft structure, processor 110 may detect multiple pairs of positions along those bars that are equidistant from the user's centerline ( For example, a position on the bar that is 1 foot, 2 feet, or 3 feet to the left and right of the center line of the user may be specified.

  For each potential position pair, the processor 110 may determine the force and torque exerted by the artificial limb 115, after which the remaining force and torque required by the user to maintain the user's position. May be determined. The processor 110 selects the pair of positions associated with the minimum remaining force and torque for the user, or the minimum estimated cumulative fatigue for the user's muscles. In some embodiments, the processor 110 may determine their positions such that the positions of the prosthetic limb 115 and the user's leg define a region having a maximum surface area, as previously described with reference to FIG. Good. In another example, processor 110 may determine a position that defines an area having a minimum angular range. The processor 110 selects the location associated with the most advantageous area. In any of these embodiments, the processor 110 then operates the artificial limb 115 to move it to selected positions and apply forces and torques at those positions. As hooks 130 engage objects in the environment, additional contacts for the user stabilize the user's body in the environment.

  Another potential purpose of the instrument 100 is to secure the user's body to various objects in the current environment and provide further contact with the environment as the user moves to stabilize the body. It is to improve. Further, in some cases, when the user is stationary and stationary, the hook of the artificial limb 115 supports the user's body so that the user can use the user's hand to perform other tasks. May be. 23-24 show that the device 100 has a hook 130 at the distal end of the excess prosthetic limb 115 and engages the hook 130 with various objects or various locations as the user navigates the environment. An example of use in which the device 100 repositions the artificial limb 115 is shown. As shown in FIG. 23, as the user climbs a structure, the device 100 may reposition one or both artificial limbs 115 to engage the structure at various positions. If the hook 130 hangs the user's body from the structure, the user can use his hand for other purposes. Further, in addition to providing support, the instrument 100 may allow the user to work in places that were otherwise unreachable or excessively dangerous. As shown in FIG. 24, as the user climbs the ladder, the instrument 100 may reposition the artificial limb 115 to engage higher tiers as the user climbs.

  To determine the position, the instrument 100 may detect an object in its environment according to any of the methods described herein and identify a location in the object where the hook 130 can engage. As described herein, the instrument 100 determines the force and torque required to maintain its body in its current position, and a position that minimizes those forces and torques that the user needs to exert. May be selected. As the user moves, the instrument 100 updates the forces and torques necessary to maintain the body, re-evaluates the potential position for the artificial limb 115 taking into account the new placement of the body, and Select a position that provides maximum support for the user's body.

  FIG. 25 shows an exemplary simplified flow diagram of a method for using the instrument shown in FIG. Initially, the method receives a measurement result relating to a human body load (step 2501). The measurement result may indicate gravity load and torque or inertial load and torque associated with the human waist or center of mass. The measurement result may include a joint angle in a human body (for example, a knee or an ankle). The method also determines a position for the excess artificial limb to support at least a portion of the load based on the measurement results for the load (step 2502). For example, the method may apply a control algorithm created by any of the steps described herein. The method also sends a control signal to move the excess artificial limb to its determined position (step 2503). The control signal may operate the actuator 118 to position the artificial limb.

  While various embodiments have been described herein with reference to an excess prosthesis that can be coupled to the base structure, in some embodiments, the prosthesis may be removed from the base structure. For example, the artificial limb may be positioned away from the user. In these examples, in order to obtain data for developing artificial limb control algorithms, the developer may take a variety of postures to support, secure, or stabilize the developer's body. The artificial limbs 115 may be positioned and a set of data regarding their posture, the position of the artificial limb 115, and the measurement results of the sensor 105 about the force and torque exerted by the artificial limb 115 at a particular position may be recorded. For example, a developer may collect data for operating an artificial limb to assist the user in controlling machinery such as construction equipment. By collecting data regarding the user's posture and related artificial limb behavior in this manner, the developer may create a control algorithm for operating the artificial limb. Further industrial examples are anticipated and may be included within the scope of this disclosure. Developers may create control algorithms according to principal component analysis and partial least square regression.

  Various embodiments of the invention may be characterized by the potential claims listed in the paragraph that follows this paragraph (and also before the actual claims at the end of this application). These potential claims form part of the specification of the present application. Accordingly, the contents of the following potential claims may be presented as actual claims in subsequent procedures relating to this application or any application claiming priority based on this application. The inclusion of those potential claims should not be construed to mean that the actual claims do not cover the contents of the potential claims. Therefore, a decision not to present these potential claims in a later procedure should not be construed as a general donation of the contents.

  The above-described embodiments of the present invention are intended to be examples only. Many variations and modifications will be apparent to those skilled in the art. All such modifications and improvements are intended to be within the scope of the invention as defined in any of the appended claims.

Claims (20)

A device having at least one excess artificial limb comprising:
A base structure configured to couple with a human body, including a sensor for obtaining a measurement regarding a load of the human body;
An excess prosthesis having a proximal end and a distal end, wherein the proximal end is coupled to the base structure; and a processor operably coupled to the sensor;
(I) receiving the measured value from the sensor;
(Ii) of the position of the excess artificial limb and the torque exerted by the excess artificial limb, based on the measurement value relating to the load, in order to minimize the load applied to the human body caused by the weight of the human body and the environment. And determining at least one of
(Iii) a processor configured to generate a control signal that changes at least one of a position of the excess artificial limb and a torque exerted by the excess artificial limb;
Including the device. The processor is configured to generate the control signal to position the excess artificial limb to secure, support, or stabilize the human body.
The apparatus of claim 1. The proximal end of the excess artificial limb and the base structure are joined by a ball joint;
The apparatus of claim 1. The excess artificial limb includes a rotary joint and a linear joint.
The apparatus of claim 1. The distal end of the excess artificial limb includes a hook or friction cap;
The apparatus of claim 1. The excess artificial limb includes an actuator that (i) receives the control signal from the processor, and (ii) operates a joint to change the position of the excess artificial limb based on the control signal.
The apparatus of claim 1. The actuator operates a rotary joint to change the angle of the rotary joint;
The apparatus of claim 6. The actuator actuates a linear joint to change the extension of the excess artificial limb,
The apparatus of claim 6. A method of operating a device having an excess artificial limb controlled by a processor comprising :
The processor receives a measurement of the load on the human body;
Wherein in order to support at least part of the load of the human body, based on the measured value for the load, the position for the excess artificial limb, and, at least one of torque to the on excess artificial limb What the processor decides; and
The processor sends a control signal based on the determined position and / or torque;
Including methods. The processor receiving the measurement value related to the load of the human body means that the joint angle of the limb of the human body, the position of the center of mass of the human body, the force exerted on one part of the human body, or any combination thereof The processor receiving a measurement value associated with
The method of claim 9. The excess that artificial limb position and / or the processor torque to said on excess artificial limb for is determined, the body is fixed, supporting, or for the excess artificial limb to stabilize The processor determining a position and / or torque to be exerted by the excess artificial limb,
The method of claim 9. Wherein said processor the location for excess artificial limb is determined, the position where the force exerted by contact between the distal end and the environment of the excess artificial limb is directed into the center of the ball joint of the excess artificial limb processor determines, thereby comprising said processor rotation of the ball joint is prevented,
The method of claim 9. Wherein the excess the processor the position of the artificial limb is determined, the excess plurality of possible positions for the artificial limb that said processor determines, and the one position from the plurality of possible positions processor There comprising selecting, distal end of the over-the artificial limb in contact with the surface of the environment when the excess artificial limb is moved to a position to obtain the take-up,
The method of claim 9. The processor determining the position of the excess artificial limb includes the processor determining the position of the excess artificial limb based on the center of mass of the human body and at least the position of the limb of the human body.
The method of claim 9. The processor determines the position of the excess artificial limb:
For each position of a plurality of possible positions for the excess artificial limb, the processor determines the amount of support provided to the center of mass of the human body by the specific position of the excess artificial limb and the position of the limb of the human body. And the processor selects a position associated with a maximum amount of support. The processor determines the position of the excess artificial limb:
For each position of a plurality of possible positions for the excess artificial limb, the processor determines a support area at the center of mass of the human body; and the processor selects a position associated with the support area having the largest area Including
The support region is bounded by a specific position of the excess artificial limb and a position of the human limb;
The method of claim 9. The processor determines the position of the excess artificial limb:
The processor determines the force exerted on one part of the human body; and, for each position of a plurality of possible positions for the excess prosthesis, when the excess prosthesis is moved to that position, the The processor determines the amount of force provided by the excess artificial limb; and the processor selects a location associated with the maximum amount of force provided;
The force corresponds to the force required by the human body to maintain the human body in one posture;
The method of claim 9. Wherein determining the processor the torque exerted by excessive artificial limb comprises said processor the amount of torque required to maintain the body in one orientation is determined,
The method of claim 9. Said processor sends the control signal, the processor to the actuator for actuating the rotation joint of the excess artificial limb comprises sending said control signal,
The method of claim 9. Said processor sends the control signal, the processor to the actuator for actuating the prismatic joints of the excess artificial limb comprises sending said control signal,
The method of claim 9.