Orthesis or prosthesis system and method for open-loop or closed-loop orthesis or prosthesis control

Patent metadata

Field	Value
Publication number	US-11679009-B2
Application number	US-201917045613-A
Country	US
Kind code	B2
Filing date	Apr 1, 2019
Priority date	Apr 9, 2018
Publication date	Jun 20, 2023
Grant date	Jun 20, 2023

Abstract

An orthosis or prosthesis system comprising at least one orthosis or prosthesis, at least one pair of electrodes for contacting the body of the user of the orthosis or prosthesis in order to capture muscle-related signals, at least one evaluation unit for muscle-related signals captured by the at least one electrode pair, at least one actuator for moving the at least one orthosis or prosthesis, and at least one control unit for controlling the at least one actuator. The at least one electrode pair is designed to capture at least a first muscle-related signal using a first measurement frequency and a second muscle-related signal using a second measurement frequency. The at least one evaluation unit evaluates a phase of the first signal and a phase of the second signal. The muscle-related signals can be bioimpedance signals. The system makes it possible to distinguish between muscle contractions and interfering signals.

First claim

We claim:

1. An orthosis or prosthesis system, comprising:
at least one orthosis or prosthesis;
at least one pair of electrodes as an electrode pair configured for contacting a body of a user of the respective orthosis or prosthesis for detecting muscle-related signals;
at least one evaluation unit for muscle-related signals detected by the at least one electrode pair;
at least one actuator for moving the respective at least one orthosis or prosthesis;
at least one control unit for controlling the at least one actuator;
wherein the at least one electrode pair is configured to detect at least a first muscle-related signal using a first measurement frequency and a second muscle-related signal using a second measurement frequency;
wherein the at least one evaluation unit is configured to:
evaluate a phase of the first signal and a phase of the second signal;
compare a phase of the first signal to a reference phase in order to ascertain a first phase change;
compare a phase of the second signal to the reference phase in order to ascertain a second phase change;
evaluate the first phase change and the second phase change.

2. The orthosis or prosthesis system as claimed in claim 1 , wherein the evaluation unit is configured to evaluate a phase progression of the first and second signals.

3. The orthosis or prosthesis system as claimed in claim 1 , wherein the reference phase is a frequency-dependent reference phase, and evaluating the first phase change and the second phase change includes comparing the first and second phase changes.

4. The orthosis or prosthesis system as claimed in claim 3 , wherein the reference phase is a phase, which substantially corresponds to a measurement in a relaxed state of a muscle.

5. The orthosis or prosthesis system as claimed in claim 4 , wherein the reference phase is a phase determined in advance.

6. The orthosis or prosthesis system as claimed in claim 3 , wherein the evaluation unit is configured to ascertain whether the first phase change is a phase change in the same direction as the second phase change or in an opposite direction thereto.

7. The orthosis or prosthesis system as claimed in claim 6 , wherein the evaluation unit is configured to assess the first and second signals as belonging to a muscle contraction if the first and second phase changes are phase changes in opposite directions.

8. The orthosis or prosthesis system as claimed in claim 6 , wherein the evaluation unit is configured to assess the first and second signals as belonging to a disturbance if the first and second phase changes are phase changes in the same direction.

9. The orthosis or prosthesis system as claimed in claim 1 , wherein the first measurement frequency is more than approximately 60 kHz and the second measurement frequency is less than approximately 60 kHz.

10. The orthosis or prosthesis system as claimed in claim 1 , wherein at least one of the first measurement frequency is substantially greater than 60 kHz and the second measurement frequency is substantially less than 60 kHz.

11. The orthosis or prosthesis system as claimed in claim 1 , wherein the at least first and second muscle-related signals are bioimpedance signals.

12. The orthosis or prosthesis system as claimed in claim 1 , wherein the at least one electrode pair is further configured to supply electrical stimulation signals to the user of the orthosis or prosthesis.

13. The orthosis or prosthesis system as claimed in claim 12 , wherein the electrical stimulation signals are configured to provide the user of the orthosis or prosthesis with feedback about at least one of the movements and the state of the orthosis or prosthesis.

14. A method for open-loop or closed-loop control of an orthosis or prosthesis by an orthosis or prosthesis system as claimed in claim 1 , including the steps of:
detecting at least a first muscle-related signal, preferably a first and a second muscle-related signal, by the at least one electrode pair,
evaluating the phase phases of at least the first muscle-related signal, preferably the phases of the at least first and the second muscle-related signal, by the at least one evaluation unit,
controlling the at least one actuator on the basis of the result of the evaluation of the phase phases of at least the first muscle-related signal, preferably the phases of the at least first and the second muscle-related signal,
moving the orthosis or prosthesis by way of the at least one actuator.

15. The orthosis or prosthesis system as claimed in claim 14 , wherein the reference phase is a frequency-dependent reference phase.

16. An orthosis or prosthesis system, comprising:
at least one orthosis or prosthesis;
at least one electrode pair configured to detect at least a first muscle-related signal using a first measurement frequency and a second muscle-related signal using a second measurement frequency;
at least one actuator to move the at least one orthosis or prosthesis;
at least one control unit to control the at least one actuator;
at least one evaluation unit configured to:
evaluate muscle-related signals detected by the at least one electrode pair;
evaluate a phase of the first muscle-related signal and a phase of the second muscle-related signal;
compare a phase of the first signal to a reference phase in order to ascertain a first phase change;
compare a phase of the second signal to the reference phase in order to ascertain a second phase change;
evaluate the first phase change and the second phase change.

17. The orthosis or prosthesis system as claimed in claim 16 , wherein the evaluation unit is configured to evaluate a phase progression of the first and second signal.

18. The orthosis or prosthesis system as claimed in claim 16 , wherein the reference phase is a frequency-dependent reference phase, and evaluating the first phase change and the second phase change includes comparing the first and second phase changes.

19. The orthosis or prosthesis system as claimed in claim 16 , wherein the reference phase is a phase, which substantially corresponds to a measurement in a relaxed state of a muscle.

20. The orthosis or prosthesis system as claimed in claim 16 , wherein the evaluation unit is configured to ascertain whether the first phase change is a phase change in the same direction as the second phase change or in an opposite direction thereto.

Assignees

• Ottobock Se & Co Kgaa

Inventors

• Ryschka Martin
• Kusche Roman

Classifications

• A61F2005/0155

  with actuating means · CPC title

• A61B5/053

  Measuring electrical impedance or conductance of a portion of the body · CPC title

• A61F2002/765

  for measuring time or frequency · CPC title

• A61F2002/704

  computer-controlled, e.g. robotic control · CPC title

• A61F2002/5059

  the feeling of position · CPC title