Topographic State Map Control for Prosthetic Joints
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Solution Overview
Problem
Conventional jointed mechanical devices, such as robotic prosthetic devices, are limited in simulating discrete movements of natural limbs and appendages, offering only limited utility due to restricted control over multiple joints and frequent maintenance needs.
Innovation Solution
A control system utilizing a topographic state map with motion axes and transitions allows continuous control of joints by determining the mechanical state and adjusting it based on control signals, enabling direct user control of individual joints with fewer input signals, and allowing transitions between pre-defined poses.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional myoelectric devices with battery-powered control systems are used, then the ability to grasp and hold objects is improved, but the device complexity increases and the utility remains limited to basic grasping functions
Solution Approach 1:
The patent replaces complex battery-powered electromyogram (EMG) control systems with a passive mechanical control system that utilizes the user's residual limb movements to directly actuate the prosthetic hand through cables and pulleys, eliminating the need for batteries and electronic control circuitry while maintaining grasping functionality
Solution Approach 2:
The patent extracts and removes the battery-powered control system from the prosthetic device, retaining only the essential mechanical components (cables, pulleys, linkages) needed for grasping, thereby simplifying the overall device architecture and reducing maintenance requirements
2Device complexity
If passive prosthetic devices that simulate the appearance of natural hand are used, then the device complexity is reduced, but the functionality is lost as they do not move
Solution Approach 1:
The patent enables the prosthetic hand to be actuated by the user's own residual limb movements, where the user's natural body motions directly control the mechanical components (cables and pulleys) to produce hand movements, making the device self-actuating without external power sources
3Ease of operation
If conventional prosthetic devices with limited control over multiple joints are used, then the ease of operation is improved, but the ability to simulate discrete movements of natural limbs is reduced
Solution Approach 1:
The patent divides the control of the prosthetic hand into separate functional zones along the user's residual limb, with different cable systems controlling different aspects of hand movement (grasping, opening, thumb opposition), allowing independent control of multiple joints through distinct mechanical pathways
Data Source
AI summary
Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.