WO2001013778A2 - Commande emg de protheses - Google Patents

Commande emg de protheses Download PDF

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Publication number
WO2001013778A2
WO2001013778A2 PCT/DK2000/000464 DK0000464W WO0113778A2 WO 2001013778 A2 WO2001013778 A2 WO 2001013778A2 DK 0000464 W DK0000464 W DK 0000464W WO 0113778 A2 WO0113778 A2 WO 0113778A2
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WO
WIPO (PCT)
Prior art keywords
signals
electrodes
sets
emg
electromyographic
Prior art date
Application number
PCT/DK2000/000464
Other languages
English (en)
Other versions
WO2001013778A3 (fr
Inventor
Ronald R. Riso
Original Assignee
Riso Ronald R
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Riso Ronald R filed Critical Riso Ronald R
Priority to EP00954398A priority Critical patent/EP1207823A2/fr
Priority to AU66864/00A priority patent/AU6686400A/en
Publication of WO2001013778A2 publication Critical patent/WO2001013778A2/fr
Publication of WO2001013778A3 publication Critical patent/WO2001013778A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/389—Electromyography [EMG]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/705—Electromagnetic data transfer

Definitions

  • the invention relates to a method and a system for controlling prostheses such as artificial limbs according to claim 1 and claim 12, respectively.
  • prostheses such as artificial limbs, e.g. hands, arms, legs, feet etc. for human beings who have lost a limb, is well-known.
  • such artificial limbs may be constructed to provide (limited) movement of the limb in relation to the user or to provide movement between two parts of the limb, for example the turning of an artificial hand in relation to a corresponding artificial arm.
  • These movements which may be performed with only one or two degrees of freedom, may be body-powered, be powered electrically or controlled by special control arrangements which can be activated by the user, i.e. the wearer of the prosthesis.
  • EMG signals electromyographic signals
  • these signals stemming from muscles which are activated, e.g. contracted or extended, have been picked up by contact electrodes, placed on the skin of a human being in places where residual muscles are present, e.g. in proximity of residual muscles. As one or more of these residual muscles is/are activated by the human being, EMG signals are generated. These electrical signals are picked up by contact electrodes and can be used as input to a control cir- cuit for initiating movement of an artificial limb.
  • the contact electrodes will usually be placed for example on opposing sides of a lower arm or in such a manner that each electrode will pick up EMG signals from more than one muscle, i.e. a group of muscles.
  • the signals picked up by these contact electrodes will still be able to provide a sufficient basis for con- trolling movements with one degree of freedom, for example the opening and closing of a hand in a palmer grasp mode, as the group of muscles on one side of the lower arm will provide a detectable signal of movement in one direction, for example closing of the hand, while the group of muscles on the other side of the lower arm will provide a detectable signal of movement in the other direction, for example opening of the hand.
  • the user of such a prosthesis thus has to learn that once a certain group of muscles is activated, a palmer grip will be performed, and that the palmer grip will be relaxed and the hand will open when a certain other group of muscles is activated.
  • the movements that may be performed by the prosthesis are limited to relatively simple movements, e.g. opening and closing of a hand.
  • a prosthesis capable of performing more than one simple movement by having a switch-over function, for example a switch, which may be activated by the user, whereby the prosthe- sis may perform another movement, for example a pinch grip or a rotation of a wrist.
  • This second movement will also be triggered by EMG signals from the same muscle groups as the first movement, and the activation by the user will thus be complicated and awkward, and the two different movements cannot be performed simultaneously.
  • Another object of the invention is to provide a method and a system for controlling a prosthesis such as an artificial limb, whereby the movements of the prosthesis and/or part/parts thereof may be performed in a highly intuitive manner, e.g. a manner, which will be natural to the user.
  • the invention relates to a method of controlling a prosthesis such as an artificial limb, whereby electromyographic (EMG) signals are used to generate control signals for one or more prostheses such as artificial limbs, and whereby the electromyographic (EMG) signals are received by one or more sets of electrodes dedicated to a source of electromyographic (EMG) signals.
  • EMG electromyographic
  • EMG elec- tromyographic
  • EMG signals stemming from a muscle which would be activated by a human being when this human being should desire to move a part of his body, e.g. a limb or a part of a limb replaced by a prosthesis, may be detected, picked up and used to control the corresponding prosthesis or corresponding part of the prosthesis.
  • the prosthesis or part of the prosthesis may be moved by the user in a highly intuitive way.
  • EMG signals may be received from muscles which would normally have been activated by the user of the prosthesis when performing the natu- ral movements of the missing body part(s).
  • These signals may thus be used to control the corresponding prosthesis parts, whereby the user may perform the desired movements intuitively, i.e. without having to learn to move a particular muscle group(s) in a particular way and/or without having to activate switch-over mechanisms etc.
  • a further advantage of the invention is related to environmental control, as the EMG control method may be applied for controlling light, appliances etc, which the user desires to control, e.g. turn on and off.
  • Such an environmental control function may be configured in relation to the EMG control method for controlling a prosthesis, whereby the user would be able to control such appliances, for example via wireless control, without actually having to manipulate a control means, e.g. a switch.
  • the electrodes are constituted by sets of electrodes.
  • an electrical signal e.g. an electrical potential
  • a measurement or detection has to be made in at least two (spatially) different places in order to achieve a potential difference.
  • at least two electrodes constitute a set of electrodes.
  • such a set of electrodes may be configured as a unit, whereby the distance between the two measuring or detection points of the set of electrodes is predefined and kept at a constant by the unit, or the electrodes may be separate parts.
  • the one or more sets of dedicated electrodes may preferably, as stated in claim 2, be placed subcutaneously, epimesially or intramuscularly, whereby it is ensured that relatively strong EMG signals from the corresponding muscle will be received by the electrode and that these signals will not be influenced by signals stemming from other sources, e.g. other muscles (cross talk).
  • said one or more sets of dedicated electrodes may be implanted in a muscle or muscles, as stated in claim 3, whereby the EMG signals will be received by the electrodes in a relatively powerful form without any cross talk from other sources of EMG signals.
  • the muscles, in which the sets of electrodes are implanted may for example be residual muscles related to a missing part of the body replaced by a prosthesis, e.g. muscles in an arm of a below elbow (BE) amputee.
  • the sets of electrodes may be implanted in any residual limb or other muscles as desired in order to improve the EMG signal pattern discriminality.
  • a muscle in a shoulder part of an amputee may provide resourceful EMG signal information relating to the desired movements of for example a hand or an arm.
  • the electromyographic (EMG) signals from said one or more sets of dedicated electrodes may be transmitted to signal processing means by wireless transmission, whereby the disadvantages and/or discomfort associated with signal wires protruding through the skin of the user may be avoided.
  • the electromyographic (EMG) signals from said one or more sets of dedicated electrodes are processed by signal proc- essing means, whereby control signals for the artificial limb(s) are produced, said signal processing means utilizing a pattern recognition method.
  • the control signals may be produced in an advantageous manner and the control signals may consistently lead to the desired movements of the prosthesis and/or part/parts thereof irrespective of the fact that the EMG signals may vary in form and/or amplitude.
  • control signals of the artificial limb(s) may be generated by utilizing an artificial neural network (ANN), whereby the pattern recognition method may be performed in a particularly advantageous manner.
  • ANN artificial neural network
  • the electromyographic (EMG) signals may preferably be received by four or more sets of dedicated electrodes, located in relation to at least four muscles, or combinations of distinct functional muscle compartments, whereby a sufficient number of distinct EMG signals may be provided in order to achieve at least four different movements of a limb or part/parts thereof.
  • the method may be utilized to control an artificial arm and/or hand, whereby one or more sets of electrodes is/are placed in relation to at least the following muscles: Flexor Digitorum, Extensor Digitorum, Flexor Pollicis Longus and Extensor Pollicis Longus.
  • This may provide at least four different movements of the artificial arm or part/parts thereof, for example closing and opening of a hand in a palmer grasp mode and closing and opening of a hand in a lateral grasp (also referred to as a key grip) mode.
  • the method may be utilized to control an artificial arm and/or hand, whereby one or more sets of electrodes are placed in relation to at least the following muscles: Flexor Digitorum, Extensor Digitorum, Flexor Pollicis Longus, Extensor Pollicis Longus, Pronator Teres, Supinator, Flexor Carpi Radialis and Extensor Carpi Radialis.
  • Flexor Digitorum Extensor Digitorum
  • Flexor Pollicis Longus Extensor Pollicis Longus
  • Pronator Teres Pronator Teres
  • Supinator Flexor Carpi Radialis
  • Flexor Carpi Radialis Extensor Carpi Radialis.
  • An artificial arm may for example be configured for opening/closing the hand and performing a palmer or a key grip, rotating or flexing the wrist, extending or bending the fingers and the thumb (selectively) etc., making all these functions controllable by the amputee (the user) in a natural and highly intuitive manner.
  • two or more dedicated sets of electrodes may be placed in relation to at least one muscle, said two or more sets of dedicated electrodes being placed in relation to different parts of said at least one muscle.
  • EMG signals from different parts of the muscle may be picked up. These EMG signals may differ and may be used to achieve greater reliability and/or even more complex and detailed patterns of movements performed by a prosthesis such as an artificial limb.
  • electroneurographic (ENG) signals may be received by one or more separate sets of ENG-electrodes and these ENG-signals may be used as complimentary signals for generating control signals.
  • EMG signals may not be recorded, for example EMG signals stemming from muscles, which are absent, in particular the intrinsic muscles of the hand, it may be possible to record corresponding ENG signals, for example from the trunk nerves in the upper arm.
  • ENG signals will contain information complimentary to the EMG signals, whereby improved control of a prosthesis is provided.
  • the ENG signals from the nerves may be provided in a number of ways known to a person skilled in the art.
  • the invention also relates to a system for controlling a prosthesis, such as an artificial limb, as claimed in claim 12.
  • electromyographic (EMG) signals are used to generate control signals for one or more artificial limbs and the system comprises one or more sets of dedicated electrodes, each placed in relation to a muscle, for receipt of the electromyographic (EMG) signals.
  • EMG electromyographic
  • EMG signals stemming from a muscle which would be activated by a human being when this human being would move a part of his body, e.g. a limb or a part of a limb replaced by a prosthesis, may be detected, picked up and used to control the corresponding prosthesis or corresponding part of the prosthesis.
  • the system allows the user to move the prosthesis or part of the prosthesis in a highly intuitive way.
  • EMG signals may be received from muscles that would normally have been activated by the user of the prosthesis when performing the natural movements of missing body parts.
  • These signals may thus be used to control the corresponding prosthesis parts, whereby the user may perform the desired movements intuitively, i.e. without having to learn to move particular muscle groups in a particular way and/or without having to activate switchover mechanisms etc.
  • a further advantage of the system is related to environmental control, as the EMG control system may be applied for controlling light, appliances etc., which the user desires to control, e.g. turn on and off.
  • Such an environmental control function may be incorporated in the EMG control system for controlling a prosthesis, whereby the user would be able to control such appliances, for example via wireless control, without actually having to manipulate a control means, e.g. a switch.
  • the one or more dedicated sets of electrodes of the system may be configured for subcutaneous, epimesial or intramuscular use, whereby it is ensured that relatively strong EMG signals from the corresponding muscle will be received by the electrode and that these signals will have a relatively high signal/noise ratio without interference from signals stemming from other sources, e.g. other muscles (cross talk).
  • said one or more sets of dedicated electrodes of the system may be configured for implantation in a muscle or muscles, whereby the EMG signals will be received by the electrodes of the system in a relatively powerful form and without cross talk from other sources of EMG signals.
  • the muscles in which the sets of electrodes are implanted may for example be resid- ual muscles related to a missing part of the body replaced by a prosthesis, e.g. muscles in an arm of a below elbow (BE) amputee.
  • the sets of electrodes may be implanted in any residual limb or other muscles as desired in order to improve the EMG signal pattern discriminality.
  • a muscle in a shoulder part of an amputee may provide resourceful EMG signal information relating to the desired movements of for example a hand or an arm, whereby the functionality of the system may be enhanced.
  • the system may comprise means for transmitting the electromyographic (EMG) signals from said one or more sets of dedicated electrodes to signal processing means by wireless transmission, whereby the disadvantages and/or discomfort associated with signal wires protruding through the skin of the user may be avoided.
  • EMG electromyographic
  • the system comprises signal processing means for producing control signals for the artificial limb(s), said signal processing means utilizing a pattern recognition method.
  • the control signals may be produced in an advantageous manner whereby the control signals may consistently lead to the desired movements of the prosthesis and/or part/parts thereof irrespective of the fact that the EMG signals may vary in form and/or amplitude.
  • the system may comprise an artificial neural network (ANN) for generating control signals for the artificial limb(s), whereby the pattern recognition method may be performed by the system in a particularly advantageous manner.
  • ANN artificial neural network
  • the system may comprise four or more sets of dedicated electrodes placed in relation to at least four muscles, or combinations of func- tional distinct muscle compartments, for receipt of electromyographic (EMG) signals.
  • EMG electromyographic
  • the system may be utilized to control an artificial arm and/or hand wherein one or more electrodes is/are placed in relation to at least the following muscles: Flexor Digitorum, Extensor Digitorum, Flexor Pollicis Longus and Extensor Pollicis Longus.
  • This system may provide at least four different movements of the artificial arm or part/parts thereof, for example closing and opening of a hand in a palmer grasp mode and closing and opening of a hand in a lateral grasp (also referred to as a key grip) mode.
  • the system may be utilized to control an artificial arm and/or hand, wherein one or more electrodes is/are placed in relation to at least the follow- ing muscles: Flexor Digitorum, Extensor Digitorum, Flexor Pollicis Longus, Extensor Pollicis Longus, Pronator Teres, Supinator, Flexor Carpi Radialis and Extensor Carpi Radialis.
  • An artificial arm may for example be configured for opening/closing the hand and per- forming a palmer or a key grip, rotating or flexing the wrist, extending or flexing the fingers and the thumb (selectively) etc., making all these functions controllable by the amputee (the user) in a natural and highly intuitive manner.
  • the system may, as stated in claim 21, advantageously comprise two or more sets of dedicated electrodes placed in relation to at least one muscle, wherein said two or more dedicated electrodes are placed in relation to different parts of said at least one muscle.
  • EMG signals from different parts of the muscle may be picked up by the system.
  • These EMG signals may differ and may be used by the system to achieve an even more complex and detailed pattern of movements performed by a prosthesis such as an artificial limb.
  • the system may comprise one or more sets of elec- troneurographic (ENG) electrodes for receiving electroneurographic (ENG) signals which may be used as complimentary signals for generating control signals.
  • ENG elec- troneurographic
  • EMG signals may not be recorded, for example EMG signals stemming from muscles which are absent, in particular the intrinsic muscles of the hand, it may be possible to record corresponding ENG signals, for example from the trunk nerves in the upper arm.
  • ENG signals will contain information complimentary to the EMG signals when generating control signals, whereby an improved control system for a prosthesis is provided.
  • the ENG electrodes for recording ENG signals from the nerves may be configured in a number of ways known to a person skilled in the art.
  • fig. 1 shows a cross section of the lower part of an arm illustrating the sug- gested positioning of dedicated electromyographic (EMG) electrodes according to the invention
  • fig. 2 shows an example of an electromyographic (EMG) signal picked up by a sets of EMG electrodes according to the invention
  • fig. 3 illustrates a system for recording, processing and evaluating EMG sig- nals from a human being
  • fig. 4 illustrates a block diagram, wherein a pattern recognition circuit with artificial neural networks are utilized to control an artificial limb.
  • Fig. 1 illustrates a cross section of the right forearm of a human being, for example a human being who has lost a hand and perhaps part of the lower arm.
  • the cross sec- tion shown in fig. 1 thus illustrates the residual muscles in the remaining part of the lower arm.
  • the cross section might be an image of the arm provided by an MRI (magnetic reso- nance imaging) scanner, and the MRI technique may also be employed when implanting the electrodes according to the invention.
  • MRI magnetic reso- nance imaging
  • the view is from distal to proximal with the Dorsal surface at the top and with the Radial surface to the left of the figure.
  • the figure indicates the relevant residual mus- cles for recording electromyographic (EMG) signals:
  • Finger flexors This can be Flexor digitorum profundus 1 or Flexor digitorum super- ficialis 2.
  • Finger extensors This can be extensor digitorum 3.
  • Thumb flexor This can be Flexor pollicis longus 4.
  • Thumb extensor This can be Extensor pollicis longus 5.
  • a selection of the function of wrist movements can be achieved by analyzing the EMG activity of four muscle groups:
  • Wrist supination This can be Supinator 6.
  • Wrist pronation This can be Pronator teres 7.
  • Wrist flexion This can be Flexor carpi radials 8 or Flexor carpi ulnaris 9.
  • Wrist extension This can be Extensor carpi radialis brevis 10, Extensor carpi radialis longus 1 1 or Extensor carpi ulnaris 12.
  • Electrodes for receiving electromyographic (EMG) signals from the muscles may be implanted in these muscles, for example in special parts of these muscles, where the signals may be picked up in a relatively strong form, with or without only a small amount of cross talk.
  • EMG electromyographic
  • the electrodes may be monopolar, bipolar,tripolar etc.
  • the electrodes may be placed percutaneously, whereby the signal wires will have to protrude through the skin of the user. This has some disadvantages such as the risk of infection and the discomfort to the user which makes the use of electrodes, which are totally implanted, preferable.
  • the signals may be transmitted for example by telemetry by electromagnetic, optical or other means, to the surface of the arm and/or to the processing means of the signals.
  • Fig. 2 illustrates an example of a EMG signal picked up from a residual muscle in a lower arm.
  • the signal from the EMG electrode has been processed, e.g. amplified (1000 - 10000), band-pass filtered (10 Hz - 1 kHz) and sampled (2 kHz). Further, the signal has been processed in order to remove DC-offset and motion artifacts (digital high pass, Butterworth order 4, 20 Hz). Finally, the signal has been full-wave rectified and a moving average signal has been provided (over a 25 ms sliding window) before the signal has been processed in order to determine an onset.
  • a search for an offset event for example when the number of samples below the appropriate threshold exceeds 150 ms, takes place.
  • Fig. 3 illustrates a system for recording, processing and evaluating EMG signals from a human being, for example in order to examine the signals from implanted electrodes, and for optimizing the positioning of electrodes, the signal processing means or the control means or in order to train a user of a system according to the invention.
  • a human being 30 who has lost a hand has had a number of EMG electrodes im- planted in the forearm 31. These are connected by means of wires 32 to a signal processing means 33 comprising amplifiers and filters. The output from the processing means 33 is delivered to a data acquisition board and computer 34, where the signals are stored and/or visualized. Further, the system comprises a computer 35 with a screen, on which an animation target 36 is shown.
  • the animation target 36 is a hand which may perform different movements, grips, etc., and the amputee 30 is asked to mimic with his phantom hand the animations performed by the hand 36.
  • the signals may be stored by the computer 34, and the recorded signals corresponding to the movements and grips intended by the amputee may be used to configure a system according to the invention.
  • the system illustrated in fig. 3 may be utilized for training artificial neural networks in order to configure a control system according to the invention and in order to individualize such a system.
  • Fig 4 illustrates a control system according to the invention wherein artificial neural networks (ANN) are utilized.
  • a prosthesis 41 in the form of an artificial hand 41 is illustrated as the object to be controlled by the system.
  • a number of EMG electrodes 43a - 43n are illustrated, each receiving EMG signals 42a - 42n, respectively.
  • the output signals 44a - 44n are amplified, band-pass filtered and transmitted, for example by telemetry by electromagnetic, optical or other means, to a signal processing means 45, comprising for example additional amplifiers, filters etc.
  • the output 46 from this processing means is led to a pattern recognition circuit 47 comprising for example artificial neural networks, wherein the signals are processed in order to determine which movements and/or grips are desired by the user.
  • a signal is sent to a control circuit 48 con- taining for example power and control circuits, and finally an output signal is led to the driving means 49 of the artificial hand 41.
  • a number of ENG (electroneurographic) electrodes may be utilized in connection with the system, providing additional information of the intended movements.
  • the invention has been described in relation to an artificial limb in the form of a hand.
  • the invention may be used in relation to prostheses in general, e.g. artificial arms, legs, feet, etc.
  • the invention can be applied for environmental control in addition to control of prostheses.
  • a user may utilize the system to turn lights on and off, to open and close power-controlled doors, to control communication means, to control input to communication means, e.g. computers, to control vehicles, to control appliances etc.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Vascular Medicine (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Prostheses (AREA)

Abstract

La présente invention concerne un procédé et un système permettant de commander une prothèse telle qu'un membre artificiel. Des signaux électromyographiques (EMG) sont utilisés pour produire des signaux de commande destinés à une ou plusieurs prothèses telles que des membres artificiels. Les signaux électromyographiques (EMG) sont reçus par un ou plusieurs ensembles d'électrodes couplées à une source de signaux électromyographiques (EMG). L'utilisation d'électrodes couplées permet aux signaux électromyographiques (EMG) provenant de sources bien définies d'être pris en charge. En conséquence, les signaux EMG issus d'un muscle qui est activé par un être humain lorsque celui-ci déplace une partie de son corps, telle qu'un membre ou une partie d'un membre remplacé par une prothèse, peuvent être détectés, pris en charge et utilisés pour commander la prothèse correspondante ou la partie de prothèse correspondante.
PCT/DK2000/000464 1999-08-20 2000-08-21 Commande emg de protheses WO2001013778A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP00954398A EP1207823A2 (fr) 1999-08-20 2000-08-21 Commande emg de protheses
AU66864/00A AU6686400A (en) 1999-08-20 2000-08-21 Emg control of prosthesis

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA199901149 1999-08-20
DKPA199901149 1999-08-20

Publications (2)

Publication Number Publication Date
WO2001013778A2 true WO2001013778A2 (fr) 2001-03-01
WO2001013778A3 WO2001013778A3 (fr) 2001-12-06

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Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002054951A2 (fr) * 2001-01-12 2002-07-18 The Government Of The United States Of America As Represented By The Secretary, Department Of Health And Human Services Decodage d'algorithme pour reponses neuronales
EP1397094A1 (fr) * 2001-06-22 2004-03-17 Alfred E. Mann Foundation for Scientific Research Stimulateur/capteur implantable avec prothese couplee
WO2004039292A2 (fr) * 2002-10-30 2004-05-13 Sebastian Schostek Orthese active
WO2005023087A2 (fr) * 2003-09-03 2005-03-17 Motorola, Inc. , A Corporation Of The State Of Delaware Procede et appareil d'electromyogramme
EP1661543A1 (fr) * 2003-08-21 2006-05-31 Yoshiyuki Sankai Dispositif portatif d'assistance aux mouvements, et procede et programme pour commander un dispositif portatif d'assistance aux mouvements
EP1723941A1 (fr) * 2004-03-11 2006-11-22 Yoshiyuki Sankai Dispositif d'aide au comportement a revetir, appareil de calibrage du dispositif d'aide au comportement a revetir et programme de calibrage
EP1955679A1 (fr) * 2007-02-09 2008-08-13 Semiconductor Energy Laboratory Co., Ltd. Dispositif d'aide
EP2189136A1 (fr) * 2007-08-20 2010-05-26 University of Tsukuba Système d'assistance à l'action pour un dispositif d'assistance à l'action de type pouvant être porté, dispositif d'assistance à l'action de type pouvant être porté et procédé d'assistance à l'action pour le dispositif d'assistance à l'action de type pouvant être porté
CN101856285A (zh) * 2010-06-18 2010-10-13 上海理工大学 具有动态增益的肌电假手控制系统
WO2010149276A1 (fr) * 2009-06-23 2010-12-29 Otto Bock Healthcare Products Gmbh Procédé d'ajustement d'une commande et dispositif technico-orthopédique
WO2011028087A1 (fr) * 2009-09-02 2011-03-10 Luis Armando Bravo Castillo Système et procédé d'acquisition et de traitement de signaux myoélectriques pour la commande d'une prothèse de bras
WO2011031124A1 (fr) * 2009-09-11 2011-03-17 Luis Armando Bravo Castillo Système de commande d'une prothèse de bras et d'un dispositif de signalisation pour ordinateur
WO2011091399A3 (fr) * 2010-01-25 2011-09-15 The Board Of Governors For Higher Education, State Of Rhode Island And Providence Plantations Systèmes et procédés de réalisation d'interface de machine neuronale pour jambes artificielles
US20140032462A1 (en) * 2012-07-24 2014-01-30 Rehabilitation Institute Of Chicago Systems and methods for autoconfiguration of pattern-recognition controlled myoelectric prostheses
CN103622768A (zh) * 2013-12-03 2014-03-12 哈尔滨工业大学 基于usb3.0的五指肌电假肢嵌入式测控系统及该系统的usb3.0数据传输方法
WO2014111843A2 (fr) 2013-01-16 2014-07-24 Fabrica Machinale S.R.L. Système de prothèse de main
DE102015202179A1 (de) * 2015-02-06 2016-08-11 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur Bestimmung einer Handsteifigkeit
EP3106133A1 (fr) * 2015-06-19 2016-12-21 Georg-August-Universität Göttingen Stiftung Öffentlichen Rechts Universitätsmedizin Dispositif auxiliaire alimenté pour mouvement de membre multifonctionnel, notamment prothèse et orthèse d'assistance au mouvement, avec des régimes d'estimation combinée
WO2018178420A1 (fr) * 2017-03-31 2018-10-04 Centro Ortopédico Tecnológico, S.L.U. Prothèse myoélectrique
EP3548994A4 (fr) * 2016-12-02 2020-07-01 Pison Technology, Inc. Détection et utilisation de signaux électriques de tissus corporels
US11737896B2 (en) 2012-07-31 2023-08-29 Purdue Research Foundation Wirelessly-powered implantable EMG recording system
US11872144B2 (en) 2018-03-23 2024-01-16 The Alfred E. Mann Foundation For Scientific Research Skin patches for sensing or affecting a body parameter
DE102014225841B4 (de) 2014-08-21 2024-06-20 Hyundai Motor Company Verfahren und System zum Steuern eines zu öffnenden oder zu schließenden Kofferraums eines Fahrzeugs mit Verwendung einer tragbaren Vorrichtung

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DE102014225841B4 (de) 2014-08-21 2024-06-20 Hyundai Motor Company Verfahren und System zum Steuern eines zu öffnenden oder zu schließenden Kofferraums eines Fahrzeugs mit Verwendung einer tragbaren Vorrichtung
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