EXTERNALLY OPERATED PROSTHESIS

Description

Technical field

[0001] The present invention describes an externally actuated prosthesis comprising a prosthetic socket and an exoprosthesis with at least one prosthetic motor and a joint that can be actuated by means of a prosthetic control device, wherein the prosthetic control device comprises a housing, a microcontroller arranged therein and display means, so that a gripping process can be simulated by the prosthetic motor that can be controlled by the prosthetic control device and parameters of the gripping process can be displayed by the display means, whereby the recording and evaluation of electromyography signals is dispensed with. State of the art

[0002] Today, prostheses comprising a prosthetic socket with an exoprosthesis in the form of a hand or foot prosthesis, which are externally powered, are in high demand. A prosthetic control device is connected to the exoprosthesis, which controls at least one prosthetic motor, allowing at least one joint on the exoprosthesis to be moved. In the case of a hand prosthesis, this replicates the movement of at least one finger joint, thus enabling a grasping motion.

[0003] Since suitable electronic components are readily available and affordable, and the goal is to create the most realistic possible replicas of natural hand and foot movements, prostheses are widely equipped with myoelectric technology for use with electromyography (EMG). EMG allows for the measurement of electrical muscle activity, from which control signals for the prosthesis control device can be generated. Surface electrodes on the skin in the area of ​​the limb stump of the prosthesis user control at least one of the exoprosthesis's motors. The muscle signals that can be picked up along the prosthesis socket are detected by sensors in the prosthesis control device and translated into movements of the exoprosthesis.

[0004] In addition to the increased technical complexity of such myoelectrically controlled, externally powered prostheses, it is necessary for the prosthesis wearer to train themselves to control the device using myoelectric signals. Therefore, using a prosthesis with EMG is generally only possible with a learning process for controlling the prosthesis, which is often lengthy. The algorithms for recognizing user input are difficult to configure and often not reproducible, so the control often causes problems if, for example, the prosthesis wearer sweats and / or the surface electrodes shift. Furthermore, with prolonged wear of such prostheses, the EMG signal can drop significantly due to fatigue in individual muscle groups.

[0005] To overcome the known disadvantages of prostheses based on EMG signals, increasingly sophisticated solutions are being proposed, further increasing the complexity of this type of prosthesis. Often, additional sensors are used to detect, for example, grasping movements even more precisely. Consequently, the prosthesis control device becomes even more complex, and the prostheses themselves become even more expensive, which, for example, makes their use more difficult in developing countries.

[0006] For example, WO2013038187 describes a method for controlling an EMG prosthesis, which allows the prosthesis wearer to train prosthetic movements even when the prosthesis is not ready for use. Using the recorded EMG signals, the exoprosthesis can be moved, or movements can be simulated on a computer, allowing the prosthesis wearer to practice real movements. The prosthesis wearer can start predefined programs, for example, for different grasping actions, via computer using the correct muscle signals and thus execute them with the exoprosthesis. In addition to a variety of EMG sensors, after programming the predefined programs and using a suitable prosthesis control device, grasping programs can be executed with computer support. However, this involves a correspondingly higher level of technical complexity.Furthermore, a prosthesis wearer can only execute the stored programs controlled by their EMG signals on the prosthesis, which is not very flexible. The sensors, actuators, and electronics for controlling the described prostheses are expensive and very complex.

[0007] To create simplified and, above all, affordable prostheses that exhibit reproducible movements and motor controls, efforts are being made to further simplify the prosthetic control device and the prosthetic motor, eliminating the need for EMG sensors and additional computer support. Without EMG sensors, it is unclear how reproducible and easily executed grasping movements can be achieved. In particular, fragile objects, as known to experts, can often no longer be grasped with rudimentary prostheses without sensor support.

[0008] From US 2010 / 198362, which can be considered the closest prior art, and US 2010 / 274365, a power-operated prosthesis with a prosthetic motor and a prosthetic control device can be derived, whereby a gripping process can be replicated by the prosthetic motor controlled by the prosthetic control device and the recording and evaluation of electromyography signals can be dispensed with. Description of the invention

[0009] The present invention aims to create a simple, externally powered, and cost-effective prosthesis that can be operated without extensive training and requires only a few components. This prosthesis enables reproducible, non-destructive, and safe externally powered grasping of objects of varying hardness, without the need for electromyography signals or grip force sensors.

[0010] This task is solved by allowing the prosthesis control device to be manipulated externally by the prosthesis wearer before and during the grasping movement. The gripping force and duration can be easily and reliably adjusted by the prosthesis wearer and regulated in real time, even during the grasping movement. The set gripping force and duration are communicated to the prosthesis wearer visually, tactilely, and / or audibly. Brief description of the drawings

[0011] A preferred embodiment of the invention is described below in connection with the accompanying drawings. Figure 1a shows a top view of a prosthesis with a prosthetic control device attached to a wristband around the prosthetic socket, with a magnified view of the display in the form of a screen. Figure 1b shows a top view of a prosthesis with a prosthetic control device in the form of a sports wristband attached to the prosthetic socket. Figure 2 shows a perspective view of a hand prosthesis after detachment from the prosthetic socket, with the prosthetic control device integrated within it. Figure 3 shows a schematic view of a touchscreen as an input and display device, which can be attached to the prosthetic socket or the hand prosthesis. Figure 4 shows an exploded view of a prosthetic control device alone, while Figure 5 shows a perspective view of the prosthetic control device positioned between the prosthetic socket and the hand prosthesis. Description

[0012] Here, a power-controlled prosthesis 1, comprising a prosthetic socket 2, a coupling 3, an exoprosthesis 4, and a prosthetic control device 5, is shown and explained using the example of a hand prosthesis. Accordingly, the prosthetic socket 2 is fitted over a limb stump 0 in the form of a forearm stump 0, indicated by dashed lines, and detachably attached. The hand prosthesis 4 is connected to the prosthetic socket 2 by means of the coupling 3. The hand prosthesis 4 has at least one motor-driven joint, by means of which grasping an object is possible. A prosthetic motor is not shown here, but is designed in such a way that it can be controlled by the prosthetic control device 5, thereby creating a grasping process.

[0013] The prosthetic control device 5 has a housing 50. The housing 50 is attached to a wristband 51, which is placed around the prosthetic socket 2, so that the prosthetic control device 5 is in the form of a wristwatch ( Fig. 1a ) or a sports armband ( Fig. 1b ) is trainable.

[0014] For ease of use, the prosthesis control device 5 is attached to the outer surface of the prosthesis socket 2 and thus spaced away from the skin of the prosthesis wearer. This is readily possible because the prosthesis control device 5 does not receive any myoelectric signals.

[0015] The prosthesis control device 5, or the housing 50, comprises input means 52 and display means 53. The input means 52 can consist of conventional pushbuttons, buttons, rotary potentiometers, knobs, or switches, as well as virtual input buttons arranged on a user interface 520. The user interface 520 of the prosthesis control device 5 projects from an outer surface of the exoprosthesis 4, the prosthesis socket 2, or the coupling 3, and is thus easily accessible. All input means 52 can be operated manually by a prosthesis wearer, i.e., with one finger. Operation is preferably performed with at least one finger of the intact hand, but could also be performed using an assistive device held in the intact hand.

[0016] In Figure 1a The screen is designed as a display means 53 with a display area, while the input means 52 are keys next to the screen 53.

[0017] The prosthesis control device 5 displays the current grip force and grip duration on the screen 53, allowing a prosthesis user to easily see the parameters for the next gripping movement. The display 53 allows the user to visually monitor how the gripping movement will or is taking place.

[0018] The prosthesis control device 5 on the prosthesis socket 2, as shown in Figure 1bThe device shown features a housing 50 with a wristband 51 in the form of a sports or fitness wristband. The prosthesis wearer can input parameters into the prosthesis control device 5 via pushbuttons 52, which can also be designed as capacitive or resistive switches 52 or pressure elements. Selection buttons 521 are provided as input means 52, allowing the user to select a mode or a parameter. Size selection buttons 522 are provided to adjust the magnitude of the selected parameter, for example, grip strength. The display means 53 used here can, in the simplest case, be LEDs. The number of illuminated LEDs or their color can visually indicate the set parameters, such as grip strength or grip duration.

[0019] In a further modification, the prosthesis control device 5 is integrated into the exoprosthesis 4, allowing the prosthesis user to directly adjust the parameters and read the values ​​on the hand prosthesis 4. The housing 50 is accordingly integrated into the exoprosthesis 4, or a part of the hand prosthesis 4 forms the housing 50 of the prosthesis control device 5. The input means 52 and display means 53, and optionally any display means 53', are located directly on the exoprosthesis 4.

[0020] The display unit 53 can also be designed as a touch-sensitive screen, as in Figure 3As shown, operating software (firmware) or an application (app) is preferably run on the prosthesis control device 5, which controls and displays the display means 53 and the input means 52. The input means 52 is a user interface 520 on the touch-sensitive screen. Here, the user interface 520 comprises input means 52 in the form of virtual selection buttons 521 and virtual size selection buttons 522 in the form of sliders. A variety of results can be achieved using a touch-sensitive screen and an app, with the display means 53 and input means 52 being provided on the touch-sensitive screen.

[0021] Since the prosthesis control device 5 preferably includes a single-board computer, such as an Arduino board or a Raspberry Pi, it can be used not only to control the exoprosthesis but also to run other apps, similar to smartphones and smartwatches. This allows a prosthesis user to run apps for music or video playback, games, messaging, or even phone calls in addition to controlling the externally powered prosthesis. Of course, multi-process operation is important, with prosthesis control always taking priority over other functions.

[0022] A prosthetic control device 5 is described in detail in Figure 4The housing 50 contains a microcontroller 54, the core component of the prosthesis control device 5, connected to a power supply 55. The power supply 55 is in the form of a rechargeable battery or one or more button cell batteries. A user interface 520 serves as the input device 52, and LEDs 53' serve as the display device 53. After parameters are entered via the microcontroller 54, the currently set parameters are visually displayed by means of the LEDs 53'. A haptic motor driver 56 and a vibration motor 57 are also connected to the microcontroller 54. Triggered by the microcontroller 54, the vibration motor 57 performs vibrations that the prosthesis wearer can feel when the prosthesis control device 5 is attached to the prosthesis socket 2 or directly to the hand prosthesis 4.The haptic motor driver 56, in conjunction with the vibration motor 57, enables the prosthesis wearer to recognize grip contact with the hand prosthesis 4 through vibrations. The aim is to communicate the set parameters to the prosthesis wearer tactilely, whereby a vibration can occur as soon as the grip movement with the set grip force has been carried out or when an object has been grasped.

[0023] The user interface 520 is designed here as a touch-sensitive PCB component (printed circuit board), with input occurring via touch-sensitive areas (touchpads). Selected parameters can be enlarged or reduced using the size selection buttons 522, represented as arrow-shaped areas. The parameters to be set can be varied using selection buttons 521. The values ​​entered on the user interface 520 are forwarded to the microcontroller for further processing.

[0024] Optionally, an accelerometer 58 can be integrated into the prosthesis control device 5, which is also connected to the microcontroller 54. The accelerometer 58 allows the movements and accelerations of the prosthesis control device 5, which is attached to the prosthesis socket 2 and / or the exoprosthesis 4, to be registered.

[0025] The prosthesis control device 5 controls a gripping process via a microcontroller 54, which runs operating software. Parameters are transmitted from the user interface 520 to the microcontroller 54 via input devices 52, processed by the microcontroller 54, and displayed by the display devices 53. The prosthesis motor movement is controlled by the microcontroller 54 as set. Even during the gripping process, the prosthesis wearer can readjust the parameters in real time using input devices 52.

[0026] The power supply 55 is located in the prosthetic socket 2, on the exoprosthesis 4, but could also be stored elsewhere on the body of the prosthesis wearer, for example in a trouser pocket. As in Figure 5As shown, the prosthetic control device 5 can be arranged to at least partially obscure the coupling 3 between the prosthetic socket 2 and the exoprosthesis 4. A connection from the prosthetic control device 5 to at least one finger joint of the hand prosthesis 4, which is movable by the prosthetic control device 5, is sketched here. A prosthetic motor capable of performing the gripping movement is indicated by a dashed line. The connection between the prosthetic control device 5 and the hand prosthesis 4, or the at least one prosthetic motor, can be made via a cable or wirelessly, for example, via Bluetooth.

[0027] The prosthesis control device 5 controls the at least one prosthetic motor after input of the parameters, in particular the grip duration and grip force. The microcontroller 54 operates the at least one prosthetic motor, and the parameters can also be changed in real time during the gripping process. Procedures in the company

[0028] The described prosthesis control device 5 is used here to control and display the grip force or grip duration of externally powered hand prostheses 4.

[0029] During operation, before performing a movement of the hand prosthesis 4, or at least one joint of the hand prosthesis 4, the prosthesis wearer manually sets the desired grip force and, if applicable, a grip duration on the user interface 520 using at least one prosthesis motor. This setting is made with a finger of the intact hand, with the parameters being selected using selection buttons 521 and the size defined using size selection buttons 522. The display devices 53 indicate to the prosthesis wearer whether the desired settings have been made. The settings are transmitted from the input devices 52 to the microcontroller 54, which subsequently controls the output devices 53 and the movement of the hand prosthesis 4.

[0030] After the desired parameters have been set, the intended movement begins, which can be triggered, for example, by a defined position of the hand prosthesis 4 relative to the prosthesis socket 2.

[0031] In the case of a grasping movement, the prosthesis wearer follows the movement itself but also receives tactile feedback, for example, about the beginning and end of the grasping movement via vibrations. The display devices 53 also show the movement parameters and / or the progress of the movement visually. The control of the at least one prosthesis motor based on the previously entered parameters is triggered and controlled by the microcontroller 54.

[0032] Should the prosthesis wearer recognize that the gripping motion does not meet their expectations, they can modify the parameters in real time via the user interface 520 while the hand prosthesis 4 is in motion. The prosthesis wearer can also manually adjust the parameters. In this case, the microcontroller 54 receives adjusted target values, such as grip force. The microcontroller 54 then controls at least one prosthetic motor accordingly. For example, the grip duration could be set to an infinite duration or a specific duration less than infinity. Because the parameters can be modified after the fact, the gripping motion can be stopped at any time, at which point the prosthetic motor releases the grip and opens the joint.

[0033] With the prosthesis control device 5, the prosthesis wearer can intentionally adjust the grip force of the hand prosthesis 4 at any time via an externally portable module. Before grasping an object, the prosthesis wearer can predefine starting parameters. If, during the grasping movement, it is determined that the grip force is too high because the objects being grasped are softer than expected, the grip force can be easily readjusted. This prevents damage to the grasped object.

[0034] Tactile feedback via vibration motor 57 can, for example, indicate when the object to be grasped is touched, grasped, and released. This allows the grasping process to approximate natural grasping.

[0035] The parameters set on the prosthesis control device 5, or feedback signals during movement, can be transmitted acoustically instead of via optical and haptic signals. Accordingly, at least one loudspeaker and one acoustic module must be connected to the microcontroller 54, from which acoustic feedback signals can be transmitted to the prosthesis user. The software running on the microcontroller 54 can thus, for example, acoustically report the set grip force or the successful completion of a gripping movement.

[0036] In a further embodiment, the prosthesis control device 5 can be designed in multiple parts, wherein the input means 52 and the display means 53 are not arranged at the location of the housing 50, but are geographically separated from each other.

[0037] Alternatively, the input devices 52 can be configured as an acoustic module connected to the microcontroller 54, whereby voice commands received by the acoustic module are used to input the desired grip force and / or grip duration at the microcontroller 54 of the prosthesis control device 5. The prosthesis wearer speaks directly into the prosthesis control device 5 or the acoustic module before performing a grip action, specifying the grip force and / or grip duration. The understood voice command is then displayed by the indicator devices 53, and the grip can be executed. This would result in a corresponding voice-controlled prosthesis 1.

[0038] Although the prosthetic control device 5 or the housing 50 is worn as part of the prosthesis 1 on the limb 0, the prosthetic control device can also be worn on the healthy or intact hand. Operation is then carried out, for example, with a prosthetic finger if the input means 52 are designed in the form of manually operated buttons. Reference symbol list

[0039] 0 Limb stump / Forearm stump 1 Prosthesis 2 Prosthetic socket 3 Coupling for exoprosthesis 4 Exoprosthesis / Hand prosthesis 5 Prosthesis control device 50 Housing 51 Wristband 52 Input device 520 User interface 521 Selection buttons 522 Size selection buttons 53 Display device (Touch display, LEDs) 53' LEDs 54 Microcontroller 55 Power supply 56 Haptic motor driver 57 Vibration motor 58 Accelerometer

Claims

1. Prosthesis (1) actuable by external force, comprising a prosthesis shaft (2) and an exoprosthesis (4) with at least one prosthesis motor actuable by means of a prosthesis control device (5) and a joint, wherein the prosthesis control device (5) comprises a housing (50), a microcontroller (54) arranged therein and display means (53), so that a gripping process can be reproduced by the prosthesis motor controllable by the prosthesis control device (5) and parameters of the gripping process can be displayed by the display means (53), wherein the recording and evaluation of electromyography signals is dispensed with, wherein the display means (53) display selected parameters of an upcoming gripping process and the prosthesis control device (5) comprises input means (52), by means of which a desired gripping force and / or gripping duration can be actively set at the microcontroller (54) of the prosthesis control device (5) directly on the prosthesis control device (5) temporally before the gripping process is carried out by a prosthesis wearer and can be readjusted during the gripping process by means of the input means (52), characterised in that at least one acoustic module and a loudspeaker are connected to the microcontroller (54) of the prosthesis control device (5), which transmit acoustic feedback of the set parameters of the gripping process to the prosthesis wearer before and during the gripping process.

2. Prosthesis (1) actuable by external force according to claim 1, wherein the input means (52) are selected in the form of selection keys (521) and size selection keys (522) on a user interface (520), by means of which the settings on the prosthesis control device (5) are made directly on the prosthesis control device (5) temporally before the gripping process is carried out by a prosthesis wearer.

3. Prosthesis (1) actuable by external force according to claim 2, wherein the input means (52) on the user interface (520) are embodied as capacitive or resistive switches (52) or pressure elements (52), which can be manually mechanically actuated by the prosthesis wearer.

4. Prosthesis (1) actuable by external force according to claim 2, wherein the user interface (520) is embodied in the form of a touch-sensitive screen and the input means (52) on the user interface (520) are selected as virtual input buttons.

5. Prosthesis (1) actuable by external force according to any one of claims 2 to 4, wherein the user interface (520) is embodied as a touch-sensitive PCB component in the form of a printed circuit board, wherein the selection keys (521) and the size selection keys (522) are touch-sensitive surfaces.

6. Prosthesis (1) actuable by external force according to any one of the claims 2 to 5, wherein the display means (53) are embodied as representations on a touch-sensitive screen and the selection keys (521) and the size selection keys (522) can be entered and read on the touch-sensitive screen.

7. Prosthesis (1) actuable by external force according to any one of claims 1 to 5, wherein the display means (53) are LEDs (53'), the number of illuminated LEDs (53') or the colour of the illuminated LEDs (53') visually indicating the selected parameters.

8. Prosthesis (1) actuable by external force according to any one of the preceding claims, wherein a vibration motor (57) with a haptic motor driver (56) is connected to the microcontroller (54) so that set parameters or feedback signals of the gripping process are haptically transmitted to the prosthesis wearer.

9. Prosthesis (1) actuable by external force according to any one of the preceding claims, wherein the input means (52) in the form of the acoustic module are connected to the microcontroller (54) so that voice commands for inputting desired gripping force and / or gripping duration at the microcontroller (54) of the prosthesis control device (5) temporally before the gripping process is carried out by a prosthesis wearer directly at the prosthesis control device (5) can be used.

10. Prosthesis (1) actuable by external force according to any one of the preceding claims, wherein the microcontroller (54) is arranged on a single board computer and an operating software for setting and displaying the input parameters and for controlling the gripping process and at least one application for music or video playback, as a game application, for messaging or for telephoning, is used.

11. Prosthesis (1) actuable by external force according to any one of the preceding claims, wherein the housing (50) together with microcontroller (54), input means (52), display means (53) is arranged integrated in the exoprosthesis (4).

12. Prosthesis (1) actuable by external force according to any one of claims 1 to 10, wherein the housing (50) is embodied in the form of a bracelet (51) and is placed around the prosthesis shaft (2) or a coupling (3) between prosthesis shaft (2) and exoprosthesis (4).

13. Prosthesis (1) actuable by external force according to any one of the preceding claims, wherein the connection between the prosthesis control device (5) and the at least one prosthesis motor is wireless, preferably bluetooth.