Prosthetic Control System Using Orientation Feedback
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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 or choppy movements due to limitations in sensing and actuation technologies.
Innovation Solution
A control system for prosthetic devices that incorporates a sensor module for detecting orientation changes and a device module for commanding actuators, utilizing a combination of positional control and force control, with features like kinematic mapping and inertial measurement units to enable precise movement and force management, allowing for smooth and proportional control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional sensing and actuation technologies are used in prosthetic control systems, then the system structure is simpler, but the movement becomes jerky or choppy rather than smooth and proportional
Solution Approach 1:
The control system is segmented into multiple independent modules: sensor module for detecting orientation changes, device module for processing commands, and multiple actuators for different degrees of freedom. This modular architecture enables smooth proportional control while managing system complexity through organized functional separation.
Solution Approach 2:
The system implements dynamic control by continuously evaluating whether the prosthetic device can move in the commanded direction with the current angle of rotation, and adjusting the angle of rotation in real-time according to joint limits and position boundaries. This dynamic adjustment enables smooth movement while respecting mechanical constraints.
2Reliability
If the control module commands actuators without evaluating current angle of rotation, then the response speed is faster, but the movement may exceed joint limits or position boundaries
Solution Approach 1:
The control module performs preliminary evaluation of the current angle of rotation and joint limits before commanding actuator movement. By assessing whether the prosthetic device can move in the commanded direction with the current angle, the system prevents violations of joint limits and position boundaries, ensuring reliable and safe operation.
Solution Approach 2:
The system implements feedback control by continuously monitoring the current angle of rotation and comparing it against joint limits and position boundaries. The control module adjusts the commanded angle of rotation based on this feedback, ensuring that movements remain within safe operational limits while maintaining responsive control.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enables smooth, proportional, and directional control of prosthetic devices, improving user experience by reducing jerky movements and enhancing the precision and naturalness of prosthetic limb operation.
Implementation Method 1
at least one sensor module adapted to detect orientation changes
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.