Prosthetic Control System Actuator Rotation Adjustment
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Solution Overview
Problem
Current prosthetic control systems face challenges in providing smooth directional and proportional control of prosthetic devices, often resulting in jerky movements due to limited control over actuator movements and positional adjustments.
Innovation Solution
A control system for prosthetic devices that includes a sensor module for detecting orientation changes and a control module for commanding actuators, which adjusts the angle of rotation based on joint limits and positional boundaries, allowing for proportional control through a combination of positional and force control, and alternating between subsets of actuators to achieve smooth movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional remote control systems are used to manipulate prosthetic devices, then the control system can operate the device, but the movement becomes jerky and lacks smooth directional and proportional control
Solution Approach 1:
The control system dynamically adjusts the angle of rotation of actuators based on joint limits and positional boundaries. The system evaluates whether the prosthetic device can move in the commanded direction with current angle of rotation and adjusts accordingly, transforming static control into dynamic adaptive control that ensures smooth and precise movements.
Solution Approach 2:
The system changes control parameters by combining positional control and force control based on calculated measured impedance. Compliance sensors detect compliance of structures and maintain force balance, allowing the system to adapt control parameters in real-time to achieve smooth proportional control without jerky movements.
2Speed
If the control module commands actuators to move in the commanded direction without adjustment, then the response is fast, but the movement may exceed joint limits or positional boundaries
Solution Approach 1:
The control module performs preliminary evaluation before commanding actuator movement by assessing whether the prosthetic device can move in the commanded direction with current angle of rotation. This preliminary check prevents commands that would exceed joint limits or positional boundaries, ensuring both fast response and high positional accuracy.
Solution Approach 2:
The system uses feedback from compliance sensors and position sensors to continuously monitor actuator positions and adjust control commands. The measured impedance calculation and force balance maintenance provide real-time feedback that ensures movements remain within joint limits and positional boundaries while maintaining fast response.
3Device complexity
If multiple actuators are controlled simultaneously without alternation, then the control system is simple, but the movement becomes unsmooth and jerky
Solution Approach 1:
The control system segments actuator control by alternating between subsets of actuators rather than controlling all actuators simultaneously. This segmentation of control commands allows for smoother coordinated movement while maintaining manageable system complexity through structured actuator management.
Data Source
AI summary
A control system for control of a prosthetic device having a plurality of actuators receives an orientation signal indicative of a desired movement. The control system evaluates whether the prosthetic device may move as desired with a current angle of rotation and commands at least one actuator to move the prosthetic device as desired by maintaining the current angle of rotation or by adjusting the angle of rotation if the prosthetic device cannot move as desired with the current angle. The control system may alternate between commanding a first subset of actuators and a second subset of actuators each time the orientation signal is indicative of a neutral position. The control system may include a position sensor and a compliance sensor and may command at least one actuator based on a combination of positional control using the position sensor and force control using the compliance sensor.