PROSTHESIS

Abstract

The invention relates to a prosthesis to replace a missing extremity of a living being, which has: one or more prosthetic links driven by actuators, first sensors, which sense a current state ZUS(t) of the prosthesis; an interface to second sensors, which sense biosignals SIG.sub.BIO(t) of the living being to control the missing extremity; third sensors for sensing data D.sub.UMG(t), which describe a current environment of the prosthesis; a prediction unit, which determines, based on the biosignals SIG.sub.BIO(t) and on the state ZUS(t) of the prosthesis and of the data D.sub.UMG(t), a model MA(t) of an action A to be executed with the prosthesis and predicts motions Beweg(M.sub.A(t)), dependent on the model M.sub.A(t), of the prosthetic links for a period of time [t, t+t]; an evaluating unit, by which the discrete decision E to replace the action A with another action A(E) can be determined on the basis of an evaluation of the biosignals SIGBIO(t), of the state ZUS(t), of the data D.sub.UMG(t), and of the predicted motions B.sub.eweg(M.sub.A(t)) in accordance with a specified evaluation scheme, wherein the action A(E) can define a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, and wherein, if the action A(E) does not define such a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, the prediction unit determines a model M.sub.A(t) of the action A to be performed by the prosthesis and predicts motions B.sub.eweg(M.sub.A(t)), dependent on the model M.sub.A(t), of the prosthetic links for a time period [t, t+t]; and a control unit, which derives control signals Sig(t), based on the currently valid, predicted motions B.sub.eweg(M.sub.A(t)) or B.sub.eweg(M.sub.A(t)) or based on the reflexive and/or protective motion autonomously controlled in an open-loop/closed-loop manner, for controlling the actuators and controls/regulates the actuators based on the control signals Sig(t).

Claims

1. A prosthesis to replace a missing extremity of a living being the prosthesis comprising: one or more prosthetic links driven by actuators, wherein a proximal prosthetic link has a mechanical interface to fix the proximal prosthetic link to the living being; first sensors to sense a current state ZUS(t) of the prosthesis, particularly a state of contact between the prosthesis and an environment; an interface to second sensors, the second sensors to sense biosignals SIG.sub.BIO(t) in the living being for controlling the missing extremity; third sensors to sense data D.sub.UMG(t) that describe a current environment of the prosthesis, particularly objects and/or other living beings located in the environment; a prediction unit to determine a model M.sub.A(t) of an action A to be performed by the prosthesis on the basis of the biosignals SIG.sub.BIO(t) and the state ZUS(t) of the prosthesis and the data D.sub.UMG(t), the prediction unit further to predict motions B.sub.eweg(M.sub.A(t)), dependent on the model M.sub.A(t), of the prosthetic links for a time period [t, t+t]; an evaluating unit to determine a discrete decision E to replace the action A with another action A(E) on the basis of an evaluation of the biosignals SIG.sub.BIO(t), of the state ZUS(t), of the data D.sub.UMG(t), and of the predicted motions B.sub.eweg(M.sub.A(t)) in accordance with a specified evaluation scheme, wherein the action A(E) is enabled to define a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, and wherein, if the action A(E) does not define such a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, the prediction unit is to determine a model M.sub.A(t) of the action A to be performed by the prosthesis and to predict motions B.sub.eweg(M.sub.A(t)), dependent on the model M.sub.A(t), of the prosthetic links for a time period [t, t+t]; and a control unit to derive control signals Sig(t) that the actuators and control/regulate the actuators based on the control signals Sig(t), based on currently valid, predicted motions B.sub.eweg(M.sub.A(t)) or B.sub.eweg(M.sub.A(t)), or based on the reflexive motion and/or protective motion that is autonomously controlled in an open-loop/closed-loop manner.

2. The prosthesis according to claim 1, wherein the control unit has an input interface via which a user of the prosthesis prompts, by an input, the control unit to stop motion of the prosthesis.

3. The prosthesis according to claim 1, wherein the evaluating unit is further to determine a decision E for an action A(E), which defines a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner independently of the biosignals SIG.sub.BIO(t), on the basis of the current state ZUS(t) and/or of the data D.sub.UMG(t).

4. The prosthesis according to claim 1, wherein the evaluating unit is further to trigger a decision E for an action A(E), which defines a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled, when: a current motion of the prosthetic links deviates from the predicted motion B.sub.eweg(M(t)) or B.sub.eweg(M.sub.A(t)) of the prosthetic links by more than a specified limit; and/or a current motion of the prosthetic links deviates from a learned model, which observes nominal states of the prosthesis and corresponding critical deviations from the nominal states; and/or it is discernible based on the current state ZUS(t) and the data D.sub.UMG(t) that the action A or A(E) to be executed with the prosthesis was not or will not be executed or was or will be executed in a flawed manner; and/or an unintentional collision of one or more prosthetic links with an object in the environment has occurred or will occur; and/or a temperature recorded by a temperature sensor of the prosthesis reaches or exceeds a limit G2; and/or a distal end of the prosthesis has approached an object up to a specified distance or environment envelope; and/or the current state ZUS(t) of the prosthesis corresponds to a state to which the following applies: ZUS(t).Math.Z.sub.ZUS,erlaubt, wherein Z.sub.ZUS,erlaubt indicates the quantity of all allowed states ZUS(t).

5. The prosthesis according to claim 1, wherein the control unit is designed and set up such that a further motion of the prosthesis takes place based on currently sensed biosignals SIG.sub.BIO(t) and/or after an input of a user of the prosthesis via an interface of the control unit after an execution of a reflexive and/or protective autonomous motion, wherein the interface is designed and set up for manual optical and/or acoustic and/or tactile input.

6. The prosthesis according to claim 1, wherein the first sensors comprise one or more of the following sensors: a joint sensor or joint sensors to sense a motor position, motor speed, and/or a motor acceleration; output sensors; acceleration sensors; force sensors to determine forces transferred to an environment due to individual prosthetic links and for determining forces transferred from the environment onto the individual prosthetic links as well as to determine interaction forces between the prosthesis and the living being wearing the prosthesis; torque sensors to determine torques transferred to the environment due to the individual prosthetic links and to determine torques transferred from the environment onto the individual prosthetic links; tactile sensors to locally sense effective forces and torques; temperature sensors to sense temperatures acting upon the prosthesis; and humidity sensors to sense humidity acting upon the prosthesis.

7. The prosthesis according to claim 1, wherein the control unit is to provide multiple apps that control the prosthesis, wherein each app defines an operating mode of the prosthesis, and wherein the control unit has an interface to a mobile unit to select a respective app and configure the selected app to control the prosthesis.

8. The prosthesis according to claim 1, wherein the second sensors comprise one or more electromyography sensors and/or one or more electroencephalography sensors, wherein individual sensors are applied to the living being or implanted in the living being.

9. The prosthesis according to claim 1, wherein the control unit is designed and set up such that an automatic adapting of the mechanical active and/or passive impedance takes place through a corresponding change in the control signals Sig(t), based on the current state ZUS(t) and the data D.sub.UMG(t).

10. The prosthesis according to claim 1, wherein the prediction unit is designed and set up such that the sensing of model M.sub.A(t)/M.sub.At) is implemented as a learning-capable process, which autonomously learns motions B.sub.eweg(M.sub.A(t))/B.sub.eweg(M.sub.A(t)) of the prosthetic links based on historical data, for executing an action A/A for this.

11. The prosthesis according to claim 1, wherein the living being is a human being.

12. The prosthesis according to claim 6, wherein tactile sensors are comprised in an artificial skin to locally sense effective forces and torques.

13. The prosthesis according to claim 7, wherein an app comprises a control program and a control parameter set.

14. The prosthesis according to claim 9, wherein the mechanical active and/or passive impedance is a stiffness of the prosthesis.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In the drawings:

[0032] FIG. 1 shows a schematic diagram of a proposed prosthesis.

DETAILED DESCRIPTION

[0033] FIG. 1 shows a schematic diagram of a proposed prosthesis to replace a missing extremity of a living being, particularly of a human being, which has: one or more prosthetic links driven by actuators 101, wherein the proximal prosthetic link has a mechanical interface for fixing the proximal prosthetic link to the living being; first sensors 102, which sense a current state ZUS(t) of the prosthesis, particularly a state of contact between the prosthesis and an environment; an interface to second sensors 103, which sense biosignals SIG.sub.BIO(t) of the living being to control the missing extremity; third sensors 104 for sensing data D.sub.UMG(t), which describe a current environment of the prosthesis, particularly objects and/or other living beings in the environment; a prediction unit 105, which determines, based on the biosignals SIG.sub.BIO(t) and on the state ZUS(t) of the prosthesis and on the data D.sub.UMG(t), a model M.sub.A(t) of an action A to be executed with the prosthesis and predicts motions B.sub.eweg(M.sub.A(t)), dependent on the model M.sub.A(t), of the prosthetic links for a period of time [t, t+t]; an evaluating unit 106 by which the discrete decision E to replace the action A with another action A(E) can be determined on the basis of an evaluation of the biosignals SIG.sub.BIO(t), of the state ZUS(t), of the data D.sub.UMG(t), and of the predicted motions B.sub.eweg(M.sub.A(t)) in accordance with a specified evaluation scheme, wherein the action A(E) can define a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, and wherein, if the action A(E) does not define such a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, the prediction unit 105 determines a model M.sub.A(t) of the action A to be performed by the prosthesis and predicts motions B.sub.eweg(M.sub.A(t)), dependent on the model M.sub.A(t), of the prosthetic links for a time period [t, t+t]; and a control unit 107, which derives control signals Sig(t) for controlling the actuators and controls/regulates the actuators based on the control signals Sig(t), based on the currently valid, predicted motions B.sub.eweg(M.sub.A(t)) or B.sub.eweg(M.sub.A(t)) or based on the reflexive and/or protective motion autonomously controlled in an open-loop/closed-loop manner.

[0034] Although the invention has been illustrated and explained in more detail by preferred example embodiments, the invention is not limited by the disclosed examples and other variations may be derived by one of ordinary skill in the art without extending beyond the protective scope of the invention. It is thus clear that a plurality of variation options exist. It is likewise clear that example embodiments actually only represent examples, which are not to be interpreted in any manner as a limitation, for example, of the protective scope, the use options, or the configuration of the invention. Rather, the previous description and the description of figures should make one of ordinary skill in the art capable of specifically implementing the example embodiments, wherein one of ordinary skill in the art with knowledge of the disclosed concept of the invention can undertake various changes, for example with respect to the function or the arrangement of individual elements listed in an example embodiment, without going beyond the scope of protection, which is defined by the claims and the legal equivalents thereof such as, for example, more extensive explanations in the description.

LIST OF REFERENCE NUMBERS

[0035] 101 Actuators [0036] 102 First sensors [0037] 103 Second sensors [0038] 104 Third sensors [0039] 105 Prediction unit [0040] 106 Evaluating unit [0041] 107 Control unit