WO2021259986A1

WO2021259986A1 - Prosthetic device having a prosthetic hand and method for operating a prosthetic device

Info

Publication number: WO2021259986A1
Application number: PCT/EP2021/067119
Authority: WO
Inventors: Johannes ZAJC
Original assignee: Otto Bock Healthcare Products Gmbh
Priority date: 2020-06-23
Filing date: 2021-06-23
Publication date: 2021-12-30
Also published as: DE102020116536A1

Abstract

The invention relates to a prosthetic device (10), comprising: - a prosthetic hand (20), which has a main body (21) and at least one motor-movable finger (22) movably mounted on the main body; - at least one prosthetic hand sensor (25) assigned to the prosthetic hand (20), the prosthetic hand sensor (25) being selected from a group comprising acceleration sensors, gyroscopic sensors, IMUs, pressure sensors, magnetometers, optical sensors, infrared sensors and/or a combination thereof; - at least one biosignal sensor (35) for capturing at least one biosignal; wherein the sensors (25, 35) are coupled to a control device (30). The prosthetic device (10) has at least one interface (40) to a machine (50). Different operating modes (60) are stored in the control device (30), which operating modes can be selected by means of signals of the sensors (25, 35). In at least one operating mode (60), the prosthetic device (10) acts as an input apparatus for the machine (50).

Description

Prosthetic device with a prosthetic hand and method for operating a prosthetic device

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

Prosthetic devices replace limbs or limb parts that are no longer present or no longer present and, if possible, should at least partially replace the function of the limb that is not present. In addition to purely mechanical prosthesis devices, there are mechatronic prosthesis devices in which actuators are activated and / or deactivated or motor drives are activated and / or deactivated on the basis of sensor values.

In prosthetic devices of the lower extremity, for example, on the basis of status or position information and / or movement information, which are determined via sensors, valves are adjusted to change hydraulic resistances, or magnetic fields are changed to achieve magnetorheological effects or energy storage is released to Support or slow down movements. Active prostheses have an energy store and electrical motors that are activated and / or deactivated on the basis of sensor data in order to effect or prevent a displacement of prosthesis components in relation to one another.

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

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

According to the invention this object is achieved by a prosthesis device with the characteristics of the Flaupt claim and a method with the features of the associated claim. Advantageous refinements and developments of Invention are disclosed in the dependent claims, the description and the figures.

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

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

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

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

In particular, the sensors for detecting biosignals or muscle signals can be designed to detect muscle contractions and can be set up to switch the operating modes. Since muscle contractions can be carried out very quickly, an operating mode switchover can take place very quickly and very easily on the basis of the detection of muscle contractions or cocoon tractions. Muscle contractions can be recorded easily and reliably and are therefore well suited to be used as switching signals between different states. Muscle contractions are less suitable for effecting a change in a state via the amplitude and duration of signals or signal patterns, for example effecting a proportional increase in speed by continuously increasing the contraction intensity. This requires a high level of attention and usually extensive training. On the other hand, movements of prosthetic devices can be carried out very precisely by the remaining limbs, so that their detection via sensors is particularly well suited to making changes to the input marker, the mouse pointer or the like. Examples of different operating modes are the gripping mode, the selection mode, the mouse mode, the adjustment mode on a household appliance, the input mode on a production plant and the like. Functions of the input marker or the mouse are therefore preferably assigned to signals from the sensors for detecting movements or changes to the prosthesis device, in particular the signals from gyroscopes, IMU, magnetometers, pressure sensors and / or acceleration sensors. In principle, it is also possible that, as an alternative or in addition, functions of the input marker are equipped and can be activated with sensor signals from bio-signals or muscles, in particular from muscle contractions. For example, confirmations, such as double-clicking or right-clicking on the mouse, can be carried out by a corresponding muscle contraction signal or a signal pattern.

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

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

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

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

Via signals from the sensors for detecting bio or muscle signals, in particular muscle contractions, and / or signals from gyroscopes, IMU, magnetometers, pressure sensors and / or acceleration sensors or other prosthetic hand sensors, functions of the input marker can be activated, for example a confirmation function can be performed Switches are activated or deactivated or the like.

A further development of the invention provides that the drives of the prosthetic hand are blocked in the input mode so that activities for controlling the input marker do not overlap with activities of the prosthetic hand, for example unwanted flexion of the prosthetic finger or the prosthetic hand in the wrist joint if you only want to change the position of the input marker.

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

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

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

Embodiments of the invention will be explained in more detail with reference to the accompanying fi gures. Show it:

Figure 1 - a schematic representation of a prosthetic device;

Figure 2 - represent a prosthesis device according to Figure 1 with different sections;

Figure 3 - different possible applications; such as

Figure 4 - Variants of Figure 3. FIG. 1 shows the basic structure of a prosthetic device 10 in the form of a prosthetic arm with a prosthetic shaft 11 for receiving a forearm stump. The prosthesis shaft 11 has an insertion opening for a forearm stump at its proximal end. At the distal end of the prosthesis shaft 11, a prosthetic hand 20 is arranged, which has a base body 21. In the embodiment shown, the base body 21 or the chassis is fastened to the prosthesis shaft 11 such that it can pivot in the area of the wrist. In addition, the base body 21 has a plurality of fingers 22 movably mounted thereon. A finger 22 is also understood to mean a thumb. At least one of the fingers 22 is assigned a motor drive 23 which, in the exemplary embodiment shown, is arranged within the base body 21. It is also provided that an individual, separate drive 23 is assigned to each finger 22. A further drive 23 for executing a flexion movement and / or extension movement in the wrist relative to the prosthesis shaft 11 is also assigned to the base body 21.

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

The prosthesis device 10 is also assigned at least one biosignal sensor 35 in the form of a muscle signal sensor for detecting at least one muscle signal; in the exemplary embodiment shown, such a muscle signal is nalsensor 35 in the form of collector electrodes for detecting myoelectric Sig signals when muscles are operated. There is also the possibility that bio or muscle signal sensors 35 are fixed on a separate device, for example a prosthesis liner, a cuff, a clamping element or a brace that is attached to the forearm stump, the upper arm or one of their muscle groups of the user Prosthetic device 10 is set. In principle, it is also possible to implant sensors or electrodes and derive signals, either via transcutaneous electrodes or via wireless data transmission.

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

The muscle signals 36 detected by the muscle signal sensor 35, for example myoelectric signals, contraction patterns, pressure signals or the like, are processed in the control device 30 and basically serve to actuate the prosthetic hand 20, in particular to activate and deactivate the drives 23 to move the fingers 22 and / or to move the main body 21. The sensor signals are also used to cause flexion or extension in the wrist. Depending on the configuration of the bearing arrangement, the respective drive 23 can also rotate about the longitudinal axis of the prosthesis shaft 11. Different operating modes 60 are stored within the control device 30 or on the control device 30, with which the prosthetic hand 20 or the prosthetic device 10 can be operated. The operating modes in the form of software programs can also be stored physically separately from the control device 30, for example in the prosthetic hand 20 and called up from there by the control device 30.

In the illustrated embodiment, three operating modes 60 are listed, in the upper illustration schematically a gripping mode, a clockwise selection mode thereof and also a so-called mouse mode. The operating modes 60 can be switched through, that is to say from the first mode to the second, from there to the third and then back to the first mode. Alternatively, a separate signal is assigned to each mode, which can be used to make a direct selection. Switching between the individual operating modes 60 can take place via the signals 36 of the Muskelsenso Ren 35. As an alternative or in addition, corresponding sensor signals can be generated by the prosthetic hand sensors 25. If, for example, a certain muscle cocontraction pattern is generated by the user of the prosthetic device 10, the normal gripping mode, in which the prosthetic hand 20 is opened and closed, is switched to a selection mode or another grip mode and, when the contraction is repeated, to the mouse mode. A corresponding selection can also be made by executing a specific movement of the prosthesis user, by exerting a specific pressure over a specific period of time or with a specific pressure pattern.

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

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

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

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

In the figure 3, the control of a Smart-Flome 50 is shown in the right representation, which is also considered a machine within the meaning of the invention. With the prosthesis device 10, for example, mechatronic components can be activated and deactivated within a single fuss, for example washing machines, dishwashers, fleizungen, ventilation, water supplies, blinds and much more. For this purpose, it is not necessary to activate the respective drives within the prosthesis device 10 in order to operate physical switches or controllers, rather a corresponding device or component can be selected and activated or adjusted in the input mode or selection mode. Another variant is shown in FIG. 4 in which the prosthesis device 10 is either directly coupled to the machine 50 or can be coupled to the corresponding machine 50 via a WLAN system within a house in order to then operate it.

A graphic surface can be controlled, for example, in that an acceleration sensor is arranged as a prosthetic hand sensor 35 within the prosthetic hand, for example on the tip of a prosthetic finger 22. This acceleration sensor is then moved and activated by a movement of the entire prosthesis device 10, so that the sensor signals are generated the. These sensor signals are integrated over time and transmitted to a position of the input marker 55 or the cursor relative to a start position, so that a change in the position of the input marker 55 or the mouse pointer on the user interface is calculated. Alternatively or in addition, a spatial position sensor or an IMU or a combination of several individual sensors can be used to move the entire prosthesis device 10 in space as a basis for controlling the machine 50 or an input marker 55. If the input marker is designed as part of a 3D model or hologram, a direct positioning within the 3D model or hologram can take place by changing the spatial position and recording it via a corresponding IMU. The corresponding angular values and displacement values for changing the position of the input marker 55 are calculated from the change in spatial position of the prosthesis device 10 and transmitted to the respective machine 50.

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

Claims

Patent claims:

1. Prosthetic device (10) with a prosthetic hand (20) with a base body (21) and at least one movably mounted, motor-adjustable finger (22), with at least one prosthetic hand (20) associated with the prosthetic hand sensor (25), the prosthetic hand sensor (25) is selected from a group comprising acceleration sensors, gyroscopic sensors, IMU, pressure sensors, magnetometers, optical sensors, infrared sensors and / or a combination thereof, as well as at least one biosignal sensor (35) for detecting at least one biosignal, the sensors (25, 35) are coupled to a control device (30), characterized in that the prosthesis device (10) has at least one interface (40) to a machine (50) and different operating modes (60) are stored in the control device (30) which can be selected via signals from the sensors (25, 35), wherein in at least one operating mode (60) the Prothesenein direction (10) a Acts as an input device for the machine (50).

2. Prosthetic device according to claim 1, characterized in that the interface (40) is designed as a wireless interface with a transmitter (41) or is designed as a wired interface.

3. Prosthetic device according to claim 1 or 2, characterized in that at least one acceleration sensor (25) is coupled to the control device (30), the sensor signals of which are integrated over time and thus the position of an input marker (55) is determined relative to a starting position .

4. Prosthetic device according to one of the preceding claims, characterized in that at least one IMU (25) is coupled to the control device (30), from whose sensor signals the spatial orientation of the prosthetic device (10) is calculated and position values, in particular angle values for changing the position of the input marker (55), are calculated from changes in the spatial position of the prosthesis device (10).

5. Prosthetic device according to one of the preceding claims, characterized in that the biosignal sensors (35) are designed to detect muscle contractions and are set up to switch over the operating modes (60).

6. Prosthetic device according to one of the preceding claims, characterized in that the functions of the input marker (55) signals the biosig nalsensoren (35) for detecting muscle contractions and / or signals from at least one prosthetic hand sensor (25), in particular gyroscope, IMU, magnetometer, Pressure sensor and / or acceleration sensor are assigned.

7. Prosthetic device according to one of the preceding claims, characterized in that a mode for moving a mouse pointer (55) on a graphical user interface or for moving an input marker (55), a mode for changing a setting value, a mode of a selection function and / or a mode of an activation function of an application is stored in the control device (30).

8. The method for operating a prosthetic device (10) according to one of the preceding claims, in which different operating modes (60) are selected via sensor signals, characterized in that the operating mode (60) is an input mode for transmitting and moving an input marker ( 55) for a machine (50) is selected by a sensor signal.

9. The method according to claim 8, characterized in that the input mode (60) is selected via pattern recognition of a muscle contraction and / or the at least one co-contraction and / or by recognizing a movement pattern of the prosthesis device (10).

10. The method according to claim 8 or 9, characterized in that acceleration signals of the prosthesis device (10) of the control device (30) are transmitted and integrated over time, the relative movement of the prosthesis seneinrichtung (10) is projected onto a plane and a command from it for the movement of the input marker (55) is determined.

11. The method according to any one of claims 8 to 10, characterized in that the spatial orientation of the prosthetic device (10) is calculated from sensor signals of an IMU and commands for changing the position of the input marker (55) are calculated from changes in the spatial position of the prosthetic device (10).

12. The method according to any one of claims 8 to 11, characterized in that bio-signal sensors (35) for detecting muscle contractions and / or signals from at least one prosthetic hand sensor (25), in particular gyroscope, IMU, magnetometer, pressure sensor and / or acceleration sensor functions of the input marker (55) must be activated.

13. The method according to any one of claims 8 to 12, characterized in that a drive (23) of the prosthetic hand (20) are blocked in the input mode (60).

14. The method according to any one of claims 8 to 13, characterized in that control signals for the input marker (55) are transmitted to the machine (50) via the interface (40) only in the input mode.

15. The method according to any one of claims 8 to 14, characterized in that an interruption mode is activated via a signal pattern in which neither drives (23) nor the input marker (55) are moved.

16. The method according to any one of claims 8 to 15, characterized in that the sensor data for moving a mouse pointer (55) on a graphic User interface, for changing a setting variable, for selecting and / or for activating an application outside the prosthetic device (10).