Method for controlling an orthopedic joint

Abstract

The invention relates to a method for controlling an orthopedic joint of a lower extremity in at least one degree of freedom by means of an adjustable actuator for adjusting an orthopedic apparatus to walking situations that differ from walking on a plane. Said orthopedic apparatus comprises top connecting means to a limb and an orthopedic element that is hingedly arranged distal to the connecting means. The method encompasses the following steps: several parameters of the orthopedic apparatus are sensed by means of sensors; the sensed parameters are compared with criteria that have been established based on several parameters and/or parameter curves and are stored in a computer unit; a criterion is selected that is suitable on the basis of the determined parameters and/or parameter curves; and resistances to movements, extents of movements, driving forces, and/or the progresses thereof are adjusted in accordance with the selected criterion in order to control special functions that differ from walking on a plane.

Claims

1. A method for controlling a passive prosthetic knee joint in at least one degree of freedom using an adjustable actuator with which a prosthesis, which comprises an upper attachment member configured to attach to a limb and a lower attachment member arranged in an articulated manner distally of the upper attachment member, is adapted to walking situations that deviate from walking on a planar surface, by changing damping in a flexion direction or an extension direction of the passive prosthetic knee joint, said method comprising the following steps: detecting several parameters of the prosthesis via sensors; comparing the detected parameters with criteria that have been established on the basis of at least one of parameters and parameter profiles, the criteria being stored in a computer unit; selecting a criterion that is suitable on the basis of at least one of the detected parameters and parameter profiles; adapting at least one of a damping force or a damping profile in accordance with the selected criterion, in order to automatically control the passive prosthetic knee joint to adapt to special functions that deviate from walking on a planar surface; adjusting resistance in the flexion direction or extension direction of the passive prosthetic knee joint based on an expected walking pattern or an expected walking situation; wherein the special functions consist of climbing over an obstacle or climbing stairs, and wherein automatically controlling comprises increasing an extension damping in the passive prosthetic knee joint in a set-down and hip-straightening phase during the special functions to a level above an extension damping in the passive prosthetic knee joint during a swing phase when walking on a planar surface.

2. The method as claimed in claim 1, wherein the parameter used is at least one of the joint angle and the profile of a change in the joint angle.

3. The method as claimed in claim 1, wherein the parameter used is at least one of the axial force and the profile of the axial force.

4. The method as claimed in claim 1, wherein the parameter used is at least one of the joint torque and a profile of a change in the joint torque.

5. The method as claimed in claim 1, wherein at least one of a vertical movement and a profile of a vertical movement is used as the parameter.

6. The method as claimed in claim 1, wherein at least one of a horizontal movement and a profile of a horizontal movement is used as the parameter.

7. The method as claimed in claim 1, wherein at least one of a tilt angle of part of the prosthesis in space and a profile of a change in the tilt angle of part of the prosthesis is used as the parameter.

8. The method as claimed in claim 1, wherein at least two parameters or parameter profiles are combined in one criterion.

9. The method as claimed in claim 1, wherein several criteria can initiate a special function.

10. The method as claimed in claim 1, wherein, in the special function, at least one of a flexion damping and the extension damping in the set-down phase is increased to a maximum value.

11. The method as claimed in claim 1, wherein, in the special function, at least one of a flexion damping and the extension damping in the set-down and hip-straightening phase is maintained constant until straightening of the hip is complete.

12. The method as claimed in claim 1, wherein the special function is initiated when an axial force acting on a lower leg drops and when the passive prosthetic knee joint is straightened or being straightened, and a flexion damping is reduced in the special function.

13. The method as claimed in claim 12, wherein it additionally takes into account the axial force dropping below a fixed level.

14. The method as claimed in claim 1, wherein the special function is initiated when a lower leg is inclined rearward, the passive prosthetic knee joint is straightened and a knee torque is below a fixed level, and a flexion damping is reduced in the special function.

15. The method as claimed in claim 1, wherein the special function is initiated when there is an upward vertical acceleration and when an axial force is below a fixed level, and a flexion damping is reduced in the special function.

16. The method as claimed in claim 1, wherein the special function is initiated when there is a rearward horizontal acceleration and when an axial force is below a fixed level, and a flexion damping is reduced in the special function.

17. The method as claimed in claim 1, wherein the damping is adjusted during at least one of a lift phase and the set-down phase.

18. The method as claimed in claim 1, wherein the damping is adjusted during a stance phase or during a swing phase.

19. The method as claimed in claim 1, wherein a low-torque lift of the distally arranged lower attachment member is detected via a force sensor or torque sensor.

20. The method as claimed in claim 1, wherein a low-torque lift is detected by measurement of a vertical acceleration of the distally arranged lower attachment member and by detection of a bending in the passive prosthetic knee joint.

21. The method as claimed in claim 1, wherein, after a flexion damping has been reduced, a free extension is set with time control.

22. The method as claimed in claim 21, wherein the time control is effected mechanically or electronically.

23. The method as claimed in claim 1, wherein the parameters are determined during walking.

24. A method for controlling a passive prosthetic knee joint in at least one degree of freedom using an adjustable actuator with which a prosthesis, which comprises an upper attachment member configured to attach to a limb and a lower attachment member arranged in an articulated manner distally of the upper attachment member, is adapted to walking situations that deviate from walking on a planar surface, by changing damping in a flexion direction or an extension direction of the passive prosthetic knee joint, said method comprising the following steps: detecting several parameters of the prosthesis via sensors; comparing the detected parameters with criteria that have been established on the basis of at least one of parameters and parameter profiles and are stored in a computer unit; selecting a criterion that is suitable on the basis of the at least one of detected parameters and parameter profiles; adapting at least one of a damping force or a damping profile in accordance with the selected criterion, in order to automatically control the passive prosthetic knee joint to adapt to special functions that deviate from walking on a planar surface; adjusting resistance in the flexion direction or extension direction of the passive prosthetic knee joint based at least in part on the adapting, wherein adjusting resistance is based part on feedback from the sensors; wherein automatically controlling comprises adapting the movement resistances to provide an increased extension damping in the passive prosthetic knee joint in a set-down phase and in a hip-straightening phase, the increased extension damping being maintained constant until straightening of the hip is complete, and the special functions consist of climbing over an obstacle or climbing stairs.

25. A method for controlling a passive prosthetic knee joint in at least one degree of freedom using an adjustable actuator with which a prosthesis, which comprises an upper attachment member configured to attach to a limb and a lower attachment member arranged in an articulated manner distally of the upper attachment member, is adapted to walking situations that deviate from walking on a planar surface, by changing a damping in a flexion direction or an extension direction of the passive prosthetic knee joint, said method comprising the following steps: detecting several parameters of the prosthesis via sensors; comparing the detected parameters with criteria that have been established on the basis of at least one of parameters and parameter profiles and are stored in a computer unit; selecting a criterion that is suitable on the basis of the at least one of detected parameters and parameter profiles; adapting at least one of a damping force or a damping profile in accordance with the selected criterion, in order to automatically control the passive prosthetic knee joint to adapt to special functions that deviate from walking on a planar surface; adjusting resistance in the flexion direction or extension direction of the passive prosthetic knee joint based on an expected walking pattern or an expected walking situation; wherein the special functions are initiated when an axial force acting on a lower leg drops and when the passive prosthetic knee joint is straightened or being straightened, and wherein automatically controlling comprises reducing a flexion damping of the adapted movement resistances during the special functions, and the special functions consist of climbing over an obstacle or climbing stairs.

26. A method for controlling a passive prosthetic knee joint in at least one degree of freedom using an adjustable actuator with which a prosthesis, which comprises an upper attachment member configured to attach to a limb and a lower attachment member arranged in an articulated manner distally of the upper attachment member, is adapted to walking situations that deviate from walking on a planar surface, by changing damping in a flexion direction or an extension direction of the passive prosthetic knee joint, said method comprising the following steps: detecting several parameters of the prosthesis via sensors; comparing the detected parameters with criteria that have been established on the basis of at least one of parameters and parameter profiles and are stored in a computer unit; selecting a criterion that is suitable on the basis of the at least one of detected parameters and parameter profiles; adapting at least one of a damping force or a damping profile in accordance with the selected criterion, in order to automatically control the passive prosthetic knee joint to adapt to special functions that deviate from walking on a planar surface; adjusting resistance in the flexion direction or extension direction of the passive prosthetic knee joint based on an expected walking pattern or an expected walking situation; wherein the special functions are initiated when a lower leg is inclined rearward, the passive prosthetic knee joint is straightened and a knee torque is below a fixed level, and wherein automatically controlling comprises reducing a flexion damping of the adapted movement resistances during the special functions, and the special functions consist of climbing over an obstacle or climbing stairs.

27. A method for controlling a passive prosthetic knee joint in at least one degree of freedom using an adjustable actuator with which a prosthesis, which comprises an upper attachment member configured to attach to a limb and a lower attachment member arranged in an articulated manner distally of the upper attachment member, is adapted to walking situations that deviate from walking on a planar surface, by changing damping in a flexion direction or an extension direction of the passive prosthetic knee joint, said method comprising the following steps: detecting several parameters of the prosthesis via sensors; comparing the detected parameters with criteria that have been established on the basis of at least one of parameters and parameter profiles and are stored in a computer unit; selecting a criterion that is suitable on the basis of the at least one of detected parameters and parameter profiles; adapting at least one of a damping force or a damping profile in accordance with the selected criterion, in order to automatically control the passive prosthetic knee joint to adapt to special functions that deviate from walking on a planar surface; adjusting resistance in the flexion direction or extension direction of the passive prosthetic knee joint based on an expected walking pattern or an expected walking situation; wherein the special functions are initiated when there is an upward vertical acceleration and when an axial force is below a fixed level, and wherein automatically controlling comprises reducing a flexion damping of the adapted movement resistances during the special functions, and the special functions consist of climbing over an obstacle or climbing stairs.

28. A method for controlling a passive prosthetic knee joint in at least one degree of freedom using an adjustable actuator with which a prosthesis, which comprises an upper attachment member configured to attach to a limb and a lower attachment member arranged in an articulated manner distally of the upper attachment member, is adapted to walking situations that deviate from walking on a planar surface, by changing damping in a flexion direction or an extension direction of the passive prosthetic knee joint, said method comprising the following steps: detecting several parameters of the prosthesis via sensors; comparing the detected parameters with criteria that have been established on the basis of at least one of parameters and parameter profiles and are stored in a computer unit; selecting a criterion that is suitable on the basis of the at least one of detected parameters and parameter profiles; adapting at least one of a damping force or a damping profile in accordance with the selected criterion, in order to automatically control the passive prosthetic knee joint to adapt to special functions that deviate from walking on a planar surface; adjusting resistance in the flexion direction or extension direction of the passive prosthetic knee joint based on an expected walking pattern or an expected walking situation; wherein the special functions are initiated when there is a rearward horizontal acceleration and when an axial force is below a fixed level, and wherein automatically controlling comprises reducing a flexion damping of the adapted movement resistances during the special functions, and the special functions consist of climbing over an obstacle or climbing stairs.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Illustrative embodiments of the invention are explained in more detail below with reference to the figures, in which:

(2) FIGS. 1 to 6 show a schematic sequence of alternating stair-climbing with a passive knee joint prosthesis;

(3) FIG. 7 shows a schematic depiction of the method;

(4) FIGS. 8 to 10 show variants of the method.

DETAILED DESCRIPTION

(5) FIG. 1 shows a prosthesis wearer 1 with a knee joint prosthesis 2, which is secured by upper attachment means to a thigh stump. The prosthetic leg 20 stands with the healthy contralateral leg 4 in front of a step.

(6) To reach the next step up, a prosthetic foot 6 has to be guided over the step edge. An active bending of the hip, as is indicated by the arrow 7, assists the passive bending of the knee, which is shown by the arrow 8 and which, because of the mass inertia both of the prosthetic foot 6 and also of the connection element 3, is effected from the prosthetic knee joint 2 to the prosthetic foot 6. For this purpose, a minimum flexion damping is required to ensure that, after a flexion of the hip, the prosthetic foot 6 does not swing forward and is not moved against the riser or under the step 5. In the lift phase, as shown in FIG. 2, the aim is for the prosthetic foot 6 to be guided upward, as far as possible in a perpendicular manner, this possibly being initiated by a slight rearward movement. The lift is detected via the flexion angle between the connection element 3 and the thigh or via a reduction of the axial force in the connection element 3, without flexion of the prosthetic foot 6. It is also possible to detect the stair-climbing mode, and thus the lowering of the flexion damping to a value below the normal swing phase control, preferably to the minimum value, via a horizontal rearward movement of the prosthetic foot 6 in conjunction with a bending of the hip.

(7) After the step edge has been negotiated and the lift phase completed, as is shown in FIG. 2, a secure positioning of the prosthetic foot 6 on the step is required. For this purpose, the prosthetic foot 6 has to be moved forward, which can be achieved by extension as a result of the force of gravity. For this purpose, an extension damping can be reduced, if this has not already been done in the lift phase. A prosthetic knee joint 2 that is sufficiently damped in flexion and extension prior to straightening allows the prosthesis wearer 1 to position the prosthetic foot 6, by means of the hip angle being changed. In the lowering and hip-straightening phase, the flexion and extension are preferably strongly damped in order not only to control the set-down, but also to prevent spontaneous falling back in the event of the hip-straightening torque being insufficient. The extension remains damped so as to be able to control the speed of straightening of the hip and knee. This is shown in FIG. 3.

(8) In FIG. 4, the set-down phase is completed. The prosthesis wearer 1 can initiate straightening of the knee with a hip-straightening torque. The straightening of the knee can be assisted by an extension of the healthy foot.

(9) FIG. 5 shows the increasing straightening of the knee through application of a hip torque. The increasing straightening of the knee shortens the effective lever and facilitates the straightening of the knee through the straightening of the hip.

(10) FIG. 6 shows the complete extension of the leg provided with the knee joint prosthesis 2. The contralateral leg 4 is moved past the prosthetic leg 20 and placed on the next step up, such that alternating climbing of stairs is possible with the passive knee joint prosthesis.

(11) Accordingly, the control is configured in such a way that, during the lift of the prosthetic foot 6, a flexion resistance is set that permits a knee angle , which allows the prosthetic foot 6 to be placed on the next step. Flexion support by spring mechanisms may facilitate the lifting movement and make it easier to negotiate the step height.

(12) If no action is to take place after the stair-climbing mode has been triggered by detection of a low-torque lift, a free extension is set, said free extension being set in a time-dependent manner. The time function can also be mechanical. The low-torque lift can be detected via the mass inertia, if the healthy leg is first set down and only the second step is intended to be negotiated by the leg provided with the prosthesis. If the prosthetic foot is first unloaded and the prosthetic knee joint then bent, the stair-climbing mode is to be set. The damping both in the direction of extension and also in the direction of flexion after the lift phase, that is to say during the hip-straightening phase, is maintained until a complete extension of the prosthetic knee joint is reached or detected.

(13) FIG. 7 shows a schematic depiction of the method. Proceeding from a starting position A, which is detected by sensors on the prosthesis or orthosis, the sensor data are compared with predefined values or value ranges that have been stored in a memory unit and have been combined to form various criteria K. Several signal states or signal profiles from the sensors preferably describe a criterion K.

(14) If, for example, a specific axial force in connection with a knee angle or with a vertical movement is measured, corresponding values of the sensors can result in the criterion that the special function S of overcoming an obstacle is to be set, which leads to a corresponding adjustment of the extension damping and flexion damping. Similarly, the criterion K for the special function S of overcoming an obstacle can be satisfied when there is a rapid drop in the axial force, when the knee is straightened or being straightened and when the axial force is below a level, such that corresponding damper adjustments have to be made. The detected criteria K trigger the respectively required actions, for example a reduction or increase in the flexion damping and/or extension damping, the release of a catch, the adjustment of a drive, or the adjustment or canceling of a limit stop.

(15) The overcoming of obstacles can also be detected, for example, when an axial force drops below a defined level and a knee is straightened, likewise a criterion can be reached by satisfying a defined inclination of the lower leg or of a below-knee rail in space, a knee angle and a low knee torque. A vertical acceleration upward, with a straightened knee and with a relatively low axial force level, can likewise be a criterion for a special function, for example the overcoming of an obstacle or alternating climbing of stairs.

(16) It is further possible, proceeding from the starting position A, to compare several signal states or profiles with various criteria K. The comparing of several criteria K with one another, and of several signal states in one criterion K, provides increased safety. The greater the number of signal states or profiles within a criterion K, the more precisely it is possible to determine the respective state of the orthopedic appliance or of the patient, and the walking situation is thereby also more precisely described. On the basis of this information and of the signal states or profiles within the parameters provided for a criterion K, it is then possible, for example, to specifically change the damper characteristics and the movement pattern of the orthopedic appliance.

(17) Several criteria K can trigger the same special function K, thereby providing greater safety in respect of correct detection of a movement state. This is necessary in view of the fact that special functions S, such as stepping over an obstacle or alternating climbing or descending of stairs, differ significantly in terms of their movement patterns from those of walking on a plane, but this special function S is difficult to detect from walking on a plane. Whereas this was previously made easier by particularly pronounced movements being performed in order to set a special function S, for example a repeated rocking movement of the front of the foot, the method according to the invention permits automatic adaptation of the damping behavior to the particular walking situation.

(18) Walking on a plane normally requires shortening of the leg that is to be moved forward after the foot is lifted. If the leg is not shortened, sufficient ground clearance can be generated by lifting of the hip or circumduction. Physiologically, the leg is also shortened by bending of the knee. In leg prostheses that replace the knee and the lower leg, the weight relationships of the lower leg, and the time and motor factors involved in walking, have the effect that the lower leg swings too far rearward and, consequently, the leg prosthesis is not straightened in time and cannot therefore be loaded. Patients therefore walk very slowly, or the prostheses are equipped with a suitable swing phase control that significantly damps the swing behavior of the lower leg. High-performance flexion damper systems take account of different walking speeds and always provide enough freedom of the leg to ensure that the prosthesis users do not stumble, but the leg is straightened again in time for the following loading phase. The more quickly the user walks, the more the damping takes effect.

(19) To climb stairs, a knee has to be bent much more than when walking on a plane, so as to avoid the leg being left suspended in front of the edge of the step that is to be negotiated. The reduced flexion damping can also be exploited in order to overcome small obstacles in one step. However, for the reasons mentioned above, the low flexion damping necessary for this purpose is not suitable for walking on a plane. For detection of the respectively required flexion damping for the step that is to be taken, a plurality of sensor data can be combined within one criterion and can trigger a special function when corresponding parameters are satisfied. If the tilting of the lower leg in space is evaluated, a low flexion resistance for climbing stairs can be activated when the prosthesis or orthosis is unloaded and the knee is not bent. If the prosthesis leg is unloaded with the knee straightened, a low flexion resistance for climbing stairs can be activated by the speed of the reduction in load even before the prosthesis is completely unloaded. The user in this way has more time to initiate bending. In order to ensure that flexion damping is not deactivated too early, for example when a drop in axial force is detected while standing in a vehicle traveling over bumpy ground, the absolute value of the axial force can be used as additional parameter for a criterion.

(20) It is likewise possible, by evaluating the angle profiles of the thigh and lower leg, to distinguish between climbing stairs and walking on a plane. If the thigh is bent slightly rearward, a reduction of the flexion damping can be expected.

(21) For control of an ankle joint, it is advantageous to determine when the toe area or the front of the foot is move rearward in order to overcome a step or an obstacle. No dorsal flexion should be allowed when the heel is set down, so as to make climbing stairs easier.

(22) Accordingly, the resistance to a dorsal flexion is increased after set-down. By contrast, when going down a set of stairs, a strong plantar flexion is desirable at set-down. In order to permit complete set-down of the prosthetic foot or of the foot holder, a dorsal flexion should be permitted, but this should be done increasingly with a resistance in order to ensure controlled set-down.

(23) In principle, a resistance to straightening is also necessary in the joint appliance, particularly in the knee joint, in order to teach a patient active control and action. Orthopedic knee joints that permit walking down a set of stairs are known from the prior art. By means of a high degree of damping in the flexion direction, the user of the orthopedic appliance can bend the knee joint in a controlled manner and thus reach the next step. The high degree of flexion damping results in a uniform movement and thus relieves the load on the contralateral side. When climbing stairs, the movement in a healthy knee joint is supported by a knee-straightening torque. This torque is provided by muscles. Orthopedic appliances are known that comprise a knee joint which permits straightening of the knee by means of actuators. Because of the energy required and the forces that occur, a relatively heavy knee joint is needed that is dependent on external energy.

(24) In the case of orthoses or prostheses of the lower extremity, it is in many cases possible to generate a sufficiently high straightening torque from the hip in order to straighten the knee when climbing stairs. However, as soon as the knee begins to straighten, it moves rearward, relative to the center of gravity of the body, such that the knee-straightening torque increases. This effect is self-intensifying. The increasing effective lever arm results in uncontrolled straightening, with a hard, uncomfortable end stop. In order to adapt the orthopedic appliance to climbing stairs without external energy being supplied, provision is made for the control to significantly increase the extension damping via an adjustable actuator after set-down on the next step up. This damping acts counter to the straightening torques acting on the knee joint and is preferably chosen so as to permit an almost constant and easily controllable straightening. This can be ensured simply by constant damping. It is likewise possible to provide damping that increases with straightening, in order to compensate for the effect whereby, with increasing straightening of the knee joint relative to the center of gravity of the body, the knee joint is exposed to a greater effective lever arm.

(25) The set-down on the next step up, with a bent knee joint, can optionally be performed via sensors arranged on the orthopedic appliance or via an actuator that can be activated mechanically upon set-down, for example a piston that is displaceable in the joint as a result of the axial force on the orthopedic appliance. The extension damping is in this case increased to a level that markedly exceeds the level for walking on a plane.

(26) FIG. 8 shows a variant of the invention in which, proceeding from a starting position A1, a special function S1 can be called up via several criteria K. If several parameters are determined on the orthopedic appliance, different parameters can be combined to form different criteria. It is thus possible for two different criteria to lead to the initiation of a special function S.

(27) FIG. 9 shows a variant of the invention in which, proceeding from different starting positions A1, A2, exactly one special function S1 can be called up via different criteria K.

(28) FIG. 10 finally shows that it is possible, from one starting position A1, to switch to various special functions S1, S2, S3 via various criteria K and parameter profiles. It can thus happen that identical instantaneous values of the respective parameters are present in the starting situation A1, for example axial force, knee angle and torque, but different walking situations can be predicted from the profiles of these parameters and, as a result, corresponding special functions S1, S2, S3 can be initiated, by means of drives being switched on or off, energy stores being released, damper devices varied or brakes activated. Similarly, limit stops can be adjusted and catches released.