DATA TRANSFER METHOD FOR A PROSTHESIS OR ORTHOSIS AND SYSTEM THEREOF

Abstract

A data transfer method for a prosthesis or orthosis, said prosthesis or orthosis including a data storing means and a processing means, the method comprising: obtaining data related to an operation of the prosthesis or orthosis and/or to an environment of the prosthesis or orthosis; storing the obtained data and/or processed data based on the obtained data in the data storing means; transferring, using a communication module connected to the prosthesis or orthosis, at least part of the stored data and/or processed data based on the stored data, to a remote server.

Claims

1. A data transfer method for a prosthesis or orthosis, said prosthesis or orthosis including a data storing means and a processing means, the method comprising: obtaining data related to an operation of the prosthesis or orthosis and/or to an environment of the prosthesis or orthosis; storing the obtained data and/or processed data based on the obtained data in the data storing means; and transferring, using a communication module connected to the prosthesis or orthosis, at least part of the stored data and/or processed data based on the stored data, to a remote server.

2. The method of claim 1, further comprising receiving, using the communication module, configuration and/or behavioral data from the remote server, wherein the configuration and/or behavioral data are obtained by the remote server based on the transferred data.

3. The method of claim 2, wherein the orthosis or prosthesis comprises a force, resistance or motion generating device, such as an actuator or a damper, for influencing the mechanical behavior and/or movement of a component of the orthosis or prosthesis, and a control module configured to control the force, resistance or motion generating device according to a control model, and wherein the method comprises using the configuration and/or behavioral data received from the remote server to adapt the control model.

4. The method of claim 1, wherein the prosthesis or orthosis further comprises at least one sensor means, and wherein obtaining data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis comprises obtaining sensor data from the at least one sensor means.

5. The method of claim 2, wherein the orthosis or prosthesis comprises a force, resistance or motion generating device, such as an actuator or a damper, for influencing the mechanical behavior and/or movement of a component of the orthosis or prosthesis, and a control module configured to control the force, resistance or motion generating device according to a control model, wherein the method comprises using the configuration and/or behavioral data received from the remote server to adapt the control model, wherein the prosthesis or orthosis further comprises at least one sensor means, wherein obtaining data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis comprises obtaining sensor data from the at least one sensor means, wherein the control module controls the force, resistance or motion regulating device based on sensor data of the at least one sensor means in accordance with the control model, and preferably, wherein the at least one sensor means comprises multiple sensors, and wherein one or more sensors of said multiple sensors are selected to provide an input of the control model based on the configuration and/or behavioral data received from the remote server.

6. (canceled)

7. The method of claim 4, wherein the at least one sensor means comprises a first set of sensor means and a second set of sensor means, and wherein, depending on an activity mode of the prosthesis or orthosis in use and/or on environmental data and/or on location data, first processed data is determined based on sensor data from the first set of sensor means, and/or second processed data is determined based on sensor data from the second set of sensor means, and said first and/or second processed data is transferred to the remote server, and/or wherein the at least one sensor means comprises a first set of sensor means and a second set of sensor means, wherein first processed data is determined based on sensor data from the first set of sensor means and associated with a first priority, and second processed data is determined based on sensor data from the second set of sensor means and associated with a second priority, and wherein a timing of the transferring of the first and/or second processed data to the remote server is based on the associated priority level.

8. (canceled)

9. The method of claim 1, further comprising: processing, by the processing means of the prosthesis or orthosis, data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis stored in the data storing means, and storing said processed data in the data storing means, wherein the step of transferring data to the remote server comprises transferring, using the communication module, at least part of the processed data to the remote server.

10. (canceled)

11. (canceled)

12. (canceled)

13. The method according to claim 1, wherein the communication module is included in a separate device, wherein the separate device comprises a second data storing means connected to the communication module, and wherein the step of transferring data to the remote server comprises a first step of transferring at least part of the stored data and/or processed data based on the stored data to the second data storing means, followed by a second step of transferring data stored in the second data storing means and/or processed data based thereon to the remote server, optionally, wherein the separate device comprises a second processing means configured for processing the data stored in the second data storing means, and configured for storing the processed data in the second data storing means, optionally, wherein the first step of transferring to the second data storing means is performed at more frequent time intervals than the second step of transferring to the remote server, and optionally, wherein the first step of transferring to the second data storing means is performed during a substantially inactive state of the prosthesis or orthosis.

14. (canceled)

15. (canceled)

16. (canceled)

17. (canceled)

18. The method of claim 1, further comprising obtaining further data related to an operation of the prosthesis or orthosis and/or to an environment of the prosthesis or orthosis and determining whether or not the further obtained data is to be stored based on the stored data in the data storing means; and/or wherein an identification of the prosthesis or orthosis or of the communication module is added to the data which is transferred to the remote server.

19. (canceled)

20. The method of claim 1, wherein the prosthesis or orthosis corresponds with a first prosthesis or orthosis, and wherein the method further comprises the following steps performed by a second prosthesis or orthosis: obtaining second data related to an operation of the second prosthesis or orthosis and/or to an environment of the second prosthesis or orthosis; storing the obtained second data and/or processed data based on the obtained second data; and transferring, using a communication module connected to the second prosthesis or orthosis, at least part of the stored second data and/or processed second data based on the stored second data, to the remote server; and the following steps performed by the remote server: determining of first and second configuration and/or behavioral data for the first and second prosthesis or orthosis, respectively, based on the transferred data received from the first and second prosthesis or orthosis; and transmitting the determined first and second configuration and/or behavioral data to the communication module associated with the first and second prosthesis or orthosis, respectively.

21. A data treatment method for a prosthesis or an orthosis, the method performed in a remote server comprising; receiving data from a communication module, said data comprising data related to an operation of the prosthesis or orthosis and/or to an environment of the prosthesis or orthosis and/or processed data based on said data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis; determining configuration and/or behavioral data for operating the prosthesis or orthosis based on the received data; and sending the configuration and/or behavioral data to the communication module.

22. The data treatment method of claim 21, wherein the prosthesis or orthosis corresponds with a first prosthesis or orthosis, and wherein the method further comprises: receiving second data from a communication module associated with a second prosthesis or orthosis, said second data comprising data related to an operation of the second prosthesis or orthosis and/or to an environment of the prosthesis or orthosis and/or processed data based on said data; determining second configuration and/or behavioral data for the second prosthesis or orthosis, based on the received second data, and further based on the data received from the first prosthesis or orthosis; and sending the second configuration and/or behavioral data to the communication module associated with the second prosthesis or orthosis.

23. A system comprising a prosthesis or orthosis and a communication module, preferably for use in a method according to claim 1, said prosthesis or orthosis comprising a data storing means and a processing means, wherein the data storing means is configured for storing data related to an operation of the prosthesis or orthosis and/or to an environment of the prosthesis or orthosis, wherein the communication module comprises a communication interface configured for transferring at least part of the stored data and/or processed data based thereon, to a remote server, and optionally, wherein the system is configured to add an identification of the prosthesis or orthosis or of the communication module to the data which is transferred to the remote server.

24. The system of claim 23, wherein the communication module is configured to receive configuration and/or behavioral data from the remote server, wherein the remote server is configured for determining the configuration and/or behavioral data based on the transferred data, and optionally, wherein the orthosis or prosthesis comprises a force, resistance or motion generating device, such as an actuator or a damper, for influencing the mechanical behavior and/or movement of a component of the orthosis or prosthesis, and a control module configured to control the force, resistance or motion generating device according to a control model, wherein the configuration and/or behavioral data received from the remote server is used to adapt the control model.

25. (canceled)

26. The system of claim 23, wherein the prosthesis or orthosis further comprises at least one sensor means for obtaining sensor data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis, and wherein the storing means is configured to store the sensor data.

27. The method of claim 24, wherein the orthosis or prosthesis comprises a force, resistance or motion generating device, such as an actuator or a damper, for influencing the mechanical behavior and/or movement of a component of the orthosis or prosthesis, and a control module configured to control the force, resistance or motion generating device according to a control model, and wherein the configuration and/or behavioral data received from the remote server is used to adapt the control model, wherein the prosthesis or orthosis further comprises at least one sensor means for obtaining sensor data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis, and wherein the storing means is configured to store the sensor data, wherein the control module is configured to control the force, resistance or motion regulating device based on sensor data of the at least one sensor means in accordance with the control model, wherein optionally the at least one sensor means comprises multiple sensors, and wherein optionally the control module is configured to select one or more sensors of said multiple sensors as an input of the control model based on the configuration and/or behavioral data.

28. The system of claim 26, wherein the at least one sensor means comprises a first set of sensor means and a second set of sensor means, and wherein the processing means is configured to determine, depending on an activity mode of the prosthesis or orthosis in use and/or environmental data and/or location data, first processed data based on sensor data from the first set of sensor means, and/or second processed data based on sensor data from the second set of sensor means, and/or wherein the system is configured to select a first set of sensor means and a second set of sensor means from the at least one sensor means, wherein first processed data is determined based on sensor data from the first set of sensor means and associated with a first priority, and second processed data is determined based on sensor data from the second set of sensor means and associated with a second priority, and wherein a timing of the transferring of the first and/or second processed data to the remote server is based on the associated priority level.

29. (canceled)

30. (canceled)

31. The system of claim 23, wherein the communication module is included in a separate device, preferably, wherein the separate device is an energy charging device, wherein the prosthesis or orthosis comprises an energy storage means, and wherein the energy charging device is configured for charging the energy storage means, and preferably, wherein the separate device comprises a second data storing means connected to the communication module, and optionally a second processing means configured for processing data stored in the second data storing means, and configured for storing the processed data in the second data storing means.

32. (canceled)

33. (canceled)

34. The system of claim 23, wherein the communication module is included in the prosthesis or orthosis.

35. (canceled)

36. The system of claim 23, wherein the prosthesis or orthosis corresponds with a first prosthesis or orthosis, wherein the system further comprises a second prosthesis or orthosis comprising a data storing means for storing second data related to an operation of the second prosthesis or orthosis and/or to an environment of the second prosthesis or orthosis, wherein the second prosthesis or orthosis is associated with another communication module comprising a communication interface configured for transferring at least part of the stored second data and/or processed data based thereon, to the remote server, and wherein the remote server is configured for: determining a first and second configuration and/or behavioral data for the first and second prosthesis or orthosis, respectively, based on the transferred data received from the first and second prosthesis or orthosis; and transmitting the determined first and second configuration and/or behavioral data to the communication module associated with the first and second prosthesis or orthosis, respectively.

37. (canceled)

38. (canceled)

39. (canceled)

Description

BRIEF DESCRIPTION OF THE FIGURES

[0095] This and other aspects of the present invention will now be described in more detail, with reference to the appended drawings showing a currently preferred embodiment. Like numbers refer to like features throughout the drawings.

[0096] FIG. 1 depicts a flow chart of exemplary embodiments of a data transfer method and a data treatment method for a prosthesis or orthosis;

[0097] FIG. 2 shows a schematic view of an exemplary embodiment of a system comprising a prosthesis or orthosis communicating with a remote server;

[0098] FIG. 3 shows an exemplary embodiment of a network system with multiple prostheses or orthoses;

[0099] FIG. 4 illustrates schematically an exemplary embodiment of an energy charging device and a prosthesis or orthosis;

[0100] FIG. 5 shows a schematic view of another exemplary embodiment of a control module implemented in a prosthesis or orthosis.

DESCRIPTION OF EMBODIMENTS

[0101] FIG. 1 depicts a flow chart of an exemplary embodiment of a data transfer method and an exemplary embodiment of a data treatment method according to the present invention. The data transfer method and the data treatment method are for a prosthesis or orthosis. The prosthesis or orthosis includes a data storing means and a processing means. A communication module connected to the data storing means of the prosthesis or orthosis communicates to a remote server. The prosthesis or orthosis may be configured for functionally assisting, enhancing, and/or replacing a limb of a human or animal subject or for augmenting a body or a part of a body of a human or animal subject. Thus, the term orthosis is used to refer both to a device used to assist a person with a limb pathology, as well as to a device that augments the performance of an able-bodied wearer. Thus, when referring to an orthosis, this could be an orthosis used to assist a person with a limb pathology as well as an exoskeleton.

[0102] Prostheses or orthoses may comprise a force, resistance or motion generating device such as actuators and/or dampers for influencing the mechanical behavior and/or movement of a component of the orthosis or prosthesis. In prosthesis or orthosis comprising a control module configured for controlling such force, resistance or motion generating device, different parameters may be considered. For example, parameters may be used in feedback loops as weights for different considered inputs, such as sensor data. A force, resistance or motion generating device, such as an actuator and/or a damper may then be actively or passively controlled based on the feedback loops.

[0103] In a first step S11, the method comprises obtaining data related to an operation of the prosthesis or orthosis and/or to an environment of the prosthesis or orthosis. Data related to the operation of the prosthesis or orthosis may be data such as logs of control data used during use of the prosthesis or orthosis, inputs to the processing means of the prosthesis or orthosis, physical characteristics of different parts composing the prosthesis or orthosis, algorithms used for the operation of the prosthesis or orthosis, or sensing data of sensor means that may be comprised in the prosthesis or orthosis, said sensor means pertaining to the operation of the prosthesis or orthosis. Data related to the environment of the prosthesis or orthosis may be sensor data of sensor means that may be comprised in the prosthesis or orthosis, said sensor means pertaining to the surroundings of the prosthesis or orthosis. In an embodiment, data related to the environment may be pertaining to signals from a neural sensor implanted in the user of the prosthesis or orthosis, said signals including e.g. motion commands for the prosthesis or orthosis. Further, the prosthesis or orthosis may also send signals to the neural sensor.

[0104] In an embodiment, the prosthesis or orthosis may comprise at least one sensor means, and the step of obtaining data may comprise obtaining sensor data from the at least one sensor means. Depending on embodiments, the at least one sensor means may comprise any one or any combination of: an angle-sensing means, an accelerometer, a Hall sensor, a force sensor, a magnetometer, a pressure sensor, a torque sensor, a temperature sensor, an energy metering means, a current sensor, a voltage sensor, a humidity sensor, a sonar sensor, an EMG sensor, a barometric sensor, a grid of pressure sensor, an EEG sensor, a RFID sensor, a neural sensor, a geo-localization sensor.

[0105] Preferably, the first step S11 of obtaining data may be performed during use of the prosthesis or orthosis. However, some data may also be obtained at an ulterior time.

[0106] In a second step S12, the method comprises storing the obtained data in the data storing means. The obtained data may be raw or processed data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis stored in the data storing means. Optionally the stored data may be further processed after step S12 and before step S13. All the obtained data in step S11 may be further processed or only a portion of it. The processing may be performed by the processing means of the prosthesis or orthosis and/or by a second processing means included in a separate device comprising the communication module, as will be further explained below.

[0107] The step S12 of storing the obtained data may comprise selecting a portion of the obtained data to be stored based on the stored data in the data storing means. In an embodiment, the selecting of the portion of the obtained data may be based on an amount of data collected corresponding to an activity mode of the prosthesis or orthosis and only data corresponding to activity modes with data amounts below a preset threshold may be stored. By activity mode, it is meant to be the type of motion implemented thanks to or via the prosthesis or orthosis by the user. An activity mode may be defined based on a trajectory of motion, a time duration of motion, and/or on sensor data values sensed during the execution of the motion. In another embodiment, the obtained data may be associated with a priority level and only data above a certain priority level may be selected to be stored. For example, obtained data related to an incident during operation of the prosthesis or orthosis may be associated with a high priority level and selected for being stored.

[0108] The communication module may be included in a separate device which comprises a second data storing means connected to the communication module. The step S12 may comprise transferring at least part of the stored data and/or the data processed based on the stored data to the second data storing means. Typically, the amount of data that may be stored in the data storing means of the prosthesis or orthosis is equivalent to a number of days of data; and the amount of data that may be stored in the second data storing means connected to the communication module is equivalent to a larger number of days of data. The transferring from the data storing means to the second data storing means may be performed upon performing step S11 or at an ulterior time. In an embodiment, data from the data storing means may be processed by the processing means prior to being transferred to the second data storing means and/or may be processed by the second processing means.

[0109] Typically, the second data storing means may be larger than the data storing means; so the data storing means may be kept below a certain size in order to minimize the impact of the data storing means on the prosthesis or orthosis.

[0110] Additionally, the at least one sensor means may comprise a first set of sensor means and a second set of sensor means. The first set of sensor means and the second set of sensor means may be partly composed of the same sensor means or may be composed entirely of different sensor means. The stored data obtained from the first set of sensor means and/or the second set of sensor means may be processed. The processed data may comprises first processed data based on sensor data from the first set of sensor means, and second processed data based on sensor data from the second set of sensor means. Depending whether first processed data or second processed data is considered, the use of the processed data may be different. In an embodiment, data from the first set of sensor means may be processed differently than data from the second set of sensor means. In another embodiment, first processed data and second processed data may originate from different types of sensor means, e.g. environment sensor means, operation sensor means. In yet another embodiment, first processed data may have been processed by the processing means of the prosthesis or orthosis, and second processed data may have been processed by the second processing means.

[0111] In a third step S13, the method comprises transferring, using the communication module connected to the prosthesis or orthosis, at least part of the stored data and/or processed data based on the stored data, to the remote server. The step S13 may be performed immediately after performing S12 or may be performed at an ulterior time. The transferring to the remote server may be performed periodically, preferably daily.

[0112] The step S13 of transferring to the remote server may comprise a first step of transferring to the second data storing means, said first step may be performed during a substantially inactive state of the prosthesis or orthosis. By substantially inactive state, it is meant a state of the prosthesis or orthosis when there is no motion implemented during a predetermined amount of time. In an embodiment, the substantially inactive state may correspond to a sleep energy state of the prosthesis or orthosis. In another embodiment, the substantially inactive state may correspond to a state after a period of time during which the prosthesis or orthosis attached to the user has been immobile.

[0113] In an embodiment, stored obtained data may be processed and the transferring of step S13 may be performed upon processing the stored obtained data. In another embodiment, stored obtained data may be processed and the transferring of step S13 may be performed after a delay after processing the stored obtained data.

[0114] The stored data, obtained and/or processed, may be associated with different priority levels depending on a relevancy and/or urgency of the data, and data with a higher priority level may be transferred to the remote server before data with a lower priority level. For example, first processed data and second processed data may be associated with different priority levels.

[0115] The prosthesis or orthosis comprises the data storing means, and the communication module may be also connected to the second data storing means. When transferring data to the remote server, the data transferred to the remote server in step S13 may originate from the data storing means, and/or the second data storing means. In an embodiment, data stored in the data storing means may be transferred to the second data storing means, and the step of transferring to the second data storing means may be performed at more frequent time intervals than the step of transferring data from the second data storing means to the remote server.

[0116] After step S13 performed in a prosthesis or orthosis system comprising the prosthesis or orthosis and the communication module, the transferred data may be treated in the remote server. The method performed in the remote server comprises a step S21 of receiving data from the communication module, said data comprising data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis and/or processed data based on said data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis.

[0117] The method further comprises a step S22 of determining configuration and/or behavioral data for operating the prosthesis or orthosis based on the received data. The configuration and/or behavioral data may be determined by processing said received data in various manners. The configuration and/or behavioral data may be related to the operation of various electronic components, or components including electronic elements included in the prosthesis or orthosis.

[0118] In an embodiment, the configuration and/or behavioral data are related to the operation of a force, resistance or motion generating device, such as an actuator or a damper, of the prosthesis or orthosis. The actuator or the damper may affect the movement of a component of the prosthesis or orthosis. During use, the actuator or the damper action may be defined based on a set of parameters affecting feedback loops for the control of the actuator or the damper. The configuration and/or behavioral data may comprise new values for at least a portion of the set of parameters in order to obtain a more natural motion of the prosthesis or orthosis. Typically, the behavioral data will determine the external operation of the prosthesis or orthosis, i.e. how the prosthesis or orthosis behaves with respect to the actions or activity the user is performing or in response to environmental properties (e.g. type of grounds, stairs, slopes, information about the person wearing the prosthesis or orthosis, etc.). The behavioral data may comprise software code, such as a control model for controlling the operation of a force, resistance or motion generating device for influencing the mechanical behavior and/or movement of a component of the orthosis or prosthesis.

[0119] Note that configuration and/or behavioral data may be obtained without using the received data of step S21. In another embodiment, configuration and/or behavioral data may be obtained further based on historical data received at a time prior to step S21. In yet another embodiment, configuration and/or behavioral data may be obtained without relying on received data.

[0120] The method further comprises a step S23 of sending the configuration and/or behavioral data to the communication module.

[0121] After step S23 performed in the remote server, the method performed in the prosthesis or orthosis system may further comprise a step S14 of receiving, using the communication module, configuration and/or behavioral data from the remote server.

[0122] FIG. 2 illustrates an exemplary embodiment of a system comprising a prosthesis or orthosis 100 and a separate device 200 comprising a communication module 230. However, in other embodiments the communication module 230 may be included in the prosthesis or orthosis 100.

[0123] The prosthesis or orthosis 100 comprises a data storing means 120 and a processing means 110. The data storing means 120 is configured for storing data related to an operation of the prosthesis or orthosis and/or to an environment of the prosthesis or orthosis. The communication module 230 comprises a communication interface configured for transferring at least part of the stored data and/or processed data based thereon, to a remote server 300. The remote server 300 is configured for determining configuration and/or behavioral data based on the transferred data, and the communication module 230 is configured to receive the configuration and/or behavioral data from the remote server 300.

[0124] The orthosis or prosthesis 100 may comprises a force, resistance or motion generating device 150, such as an actuator or a damper, for influencing the mechanical behavior and/or movement of a component 170 of the orthosis or prosthesis, and a control module 140 configured to control the force, resistance or motion generating device 150 according to a control model. It is noted that the control module 140 does not have to be a separate module and that is may be integrated with the processing means 110. The configuration and/or behavioral data received from the remote server 300 may be used to adapt the control model used by the control module 140.

[0125] The prosthesis or orthosis 100 further comprises at least one sensor means 130 for obtaining sensor data related to the operation of the prosthesis or orthosis and/or to the environment of the prosthesis or orthosis, and the data storing means 120 may store the sensor data and/or processed data based on the sensor data.

[0126] The control module 140 is configured to control the force, resistance or motion regulating device 150 based on sensor data of the at least one sensor means 130 in accordance with the control model. Typically, the at least one sensor means 130 comprises multiple sensors, and wherein the control module 140 is configured to select one or more sensors of said multiple sensors 130 as an input of the control model based on the configuration and/or behavioral data.

[0127] The at least one sensor means 130 may comprise a first set of sensor means and a second set of sensor means; and the processing means 110 may be configured to determine, depending on an activity mode of the prosthesis or orthosis 100 in use, first processed data based on sensor data from the first set of sensor means, and/or second processed data based on sensor data from the second set of sensor means. In that way the data stored in the data storing means 110, and optionally transferred to the remote server 300, may adapted to be suited to the current activity mode. For example, depending on whether an individual is standing or walking or running, it may be desirable to sense different data and/or the process sensed data in a different manner.

[0128] Preferably, the communication module 230 is connected through a wired connection to the prosthesis or orthosis 100.

[0129] In the illustrated embodiment the separate device 200 is an energy charging device, and the prosthesis or orthosis 100 comprises an energy storage means 160. The energy charging device 200 comprises a charging means 240, e.g. an energy conversion means and/or a battery, which is configured for charging the energy storage means 160.

[0130] The separate device 200 comprises a second data storing means 220 connected to the communication module 230, and a second processing means 210 configured for processing data stored in the second data storing means 220, and configured for storing the processed data in the second data storing means 210. In the illustrated embodiment the communication module is included in the separate device 200, but in other embodiments the communication module is included in the prosthesis or orthosis 100. In that case the second processing means 210 may be merged with the processing means 110, and the second data storing means 220 may be merged with the data storing means 120.

[0131] Preferably, the processing means 110 and/or the second processing means 210 is configured to add an identification of the prosthesis or orthosis 100 or of the communication module 230/the separate device 200 to the data which is transferred to the remote server 300.

[0132] FIG. 3 illustrates an exemplary embodiment with multiple prostheses or orthoses 100, 100, 100. Each prosthesis or orthosis 100, 100, 100 comprises a respective data storing means for storing data related to an operation of the respective prosthesis or orthosis 100, 100, 100 and/or to an environment of the respective prosthesis or orthosis 100, 100, 100. Each prosthesis or orthosis 100, 100, 100 is associated with a respective communication module 230, 230, 230 comprising a communication interface configured for transferring at least part of the stored data and/or processed data based thereon, to a remote server 300. The remote server 300 is configured for determining respective configuration and/or behavioral data for each prosthesis or orthosis 100, 100, 100, based on the transferred data received from the multiple prostheses or orthoses 100, 100, 100, and for transmitting the respective configuration and/or behavioral data to the respective communication module 230, 230, 230 associated with the respective prosthesis or orthosis 100, 100, 100.

[0133] More in particular, determining of the configuration and/or behavioral data for the first prosthesis or orthosis 100, may be based on the transferred data received from the first prosthesis or orthosis 100, but optionally also based on data received from one or more other prostheses or orthoses 100, 100. Similarly, determining of the configuration and/or behavioral data for the second prosthesis or orthosis 100, may be based on the transferred data received from the second prosthesis or orthosis 100, but optionally also based on data received from one or more other prostheses or orthoses 100, 100. In that way the configuration and/or behavioral data may be personalized for a particular user whilst at the same time taking into account problems encountered by another user.

[0134] The prosthesis or orthosis 100, 100, 100 may be implemented as described in any one of the embodiments above. The communication module 230, 230, 230 may be included in a separate device or may be included in the prosthesis or orthosis 100, 100, 100, as described in any one of the embodiments above.

[0135] FIG. 4 illustrated an exemplary embodiment of a system comprising a prosthesis 100 in a state removed form the wearer, and a separate device 200 connected to a power grid 400.

[0136] The prosthesis 100 comprises a hinge joint system and is intended for functionally replacing a hinge joint of a human subject. In this particular case the prosthesis 100 is a foot-ankle prosthesis for replacing the foot of a person in a transtibial or a transfemoral manner. The hinge joint system comprises a first member 3 and a second member 4 which are interconnected for a rotational movement in respect to one another. The second member 4 is forming an artificial foot replacing the missing foot of the concerned person. Two lever arms 35 and 36 pivote around the ankle axis BB. The foot 4 is connected to lever arm 35 through a crank slider mechanism. On the foot part 4, and more precisely on the slider 66 of the crank-slider mechanism are the springs 67 which allows the prosthesis 100 to function as an efficient ESR foot in passive mode (when the actuator 55, see further, is not activated).

[0137] The prosthesis 100 comprises a force, resistance or motion generating device implemented as an actuator 55, e.g. a motor, put in series with an elastic element 56. The prosthesis 100 comprises further comprises a movement controlling mechanism comprising a clutch assembly 22. The actuator 55 (which corresponds with an example of the force, resistance or motion generating device 150 of FIG. 2) provides mechanical energy for moving the one or more intermediate elements (which correspond with an example of the component 170 of FIG. 2) of the movement controlling mechanism. The actuator 55 serves as a means by which, on the one hand, energy can be accumulated, so that a sufficiently high energy level can be reached in order to switch the movement controlling mechanism between a contacting mode of operation and a released mode of operation, and, on the other hand, the timing of this switch-over can be controlled.

[0138] The prosthesis 100 may have any one or more of the features disclosed in WO2016009308 which is included herein by reference.

[0139] The separate device 200 may be implemented as described above, e.g. in connection with FIG. 2. The various components of the separate device 200 may be included in a housing provided with a number of connection interfaces, such as a connection interface 251 for connection the separate device 200 to the power grid 400, and a connection interface 252 for providing power to the prosthesis 100, and a connection interface 253 for exchanging data with the prosthesis 100. Connection interface 251 may be connected to connection interface 252 through a charging means 240 as described above in connection with FIG. 2.

[0140] FIG. 5 illustrates an example where the orthosis or prosthesis comprises a force, resistance or motion generating device 150, such as an actuator or a damper, for influencing the mechanical behavior and/or movement of a component (not shown) of the orthosis or prosthesis, and a control module 140 configured to control the device 150 according to a control model. The configuration and/or behavioral data received from the remote server may be used to modify the control model.

[0141] The control model 140 may receive one or more inputs and may use one or more weight parameters to generate one or more outputs based on the one or more inputs. The control model may define a control policy, e.g. as known in the technical domain of artificial intelligence. For example, the one or more inputs may comprise outputs of one or more sensors 130, and/or processed data based on the outputs of one or more sensors 130, and/or other data inputs. For example, the sensor data may further be processed in accordance with a detection algorithm to determine one or more operation categories of the prosthesis, e.g. an activity mode such as whether the person is walking on flat ground or on a slope, whether the person is standing, walking, or running, etc. These one or more operation categories may then be input in the control model. The control model may use one or more weight parameters associated with the different inputs. The one or more outputs of the control model allow the control module 140 to control the mechanical impact of the device 150. The weight parameters may be used for adaptive control and different sets of weights can be defined based on the activity mode of the prosthesis or orthosis and based on the movement achieved by the prosthesis or orthosis.

[0142] Optionally the control module 140 may also output data to be stored in a data storing means in order to be transferred to the remote device.

[0143] In an embodiment, the configuration and/or behavioral data may define one or more new sources of inputs for the control model, and/or a new control model itself, and/or one or more parameters used by the control model.

[0144] Whilst the principles of the invention have been set out above in connection with specific embodiments, it is to be understood that this description is merely made by way of example and not as a limitation of the scope of protection which is determined by the appended claims.