Systems and methods for processing limb motion

Abstract

Control systems and methods are disclosed for processing a time series of signals associated with the movement of a device associated with a limb. The time series of motion signals is filtered, such as thorough an autoregressive filter, and compared to stored data sets representing a limb-motion event and/or phase. In certain examples, a plurality of accelerometers generate the time series of motion signals based at least on acceleration measurements in three orthogonal directions and/or planes. The acceleration measurements may relate to the movement of an artificial limb, such as a prosthetic or orthotic device. Upon determining an event and/or phase of limb motion, the control system may trigger an actuator to appropriately adjust one or more prosthetic or orthotic joints.

1 - 30 . (canceled) 
     
     
         31 . A system comprising:
 an actuatable prosthetic device being moveable about a joint;   at least one sensor;   a control system comprising a processor and memory, the control system communicatively coupled to the at least one sensor and configured to:
 receive a time series of motion signals indicative of a movement of the prosthetic device, 
 filter at least one time series of motion signal of the time series of motion signals, 
 process the filtered at least one time series of motion signal to identify at least one limb-motion category, and 
 cause an actuator to control movement of the actuatable prosthetic device based at least in part on the identified at least one limb-motion category. 
   
     
     
         32 . The system of  claim 31 , wherein the at least one sensor comprises a myoelectric sensor. 
     
     
         33 . The system of  claim 31 , wherein the at least one sensor comprises at least one of an accelerometer and a gyroscope. 
     
     
         34 . The system of  claim 31 , wherein the limb-motion category comprises at least one of level ground walking, walking up or down stairs, walking up or down ramps, running, inclination, declination, step, and non-step. 
     
     
         35 . The system of  claim 31 , wherein the memory is configured to store at least one of data associated with the received time series signal, experimental data, or calibration data. 
     
     
         36 . The system of  claim 31 , further comprising an interface for communication with a user or an external device. 
     
     
         37 . The system of  claim 31 , wherein, to process the filtered at least one time series of motion signal to identify at least one limb-motion category, the control system is configured to compare the filtered at least one time series of motion signal with a set of sample time series of motion signals. 
     
     
         38 . The system of  claim 31 , wherein the control system is further configured to identify at least one of heel strike, toe down, heel off, toe off, midswing or end of swing. 
     
     
         39 . A method of controlling operation of an actuatable prosthetic device being moveable about a joint, the method comprising:
 producing, using at least one sensor, a time series of motion signals indicative of a movement of the actuatable prosthetic device;   receiving at a processor the time series of motion signals indicative of the movement of the prosthetic device;   filtering, using said processor, selected at least one time series of motion signal of the time series of motion signals;   processing, using said processor, the filtered at least one time series of motion signal to identify at least one limb-motion category; and   causing an actuator to control movement of the actuatable prosthetic device based at least in part on the identified at least one limb-motion category.   
     
     
         40 . The method of  claim 39 , wherein the at least one sensor comprises a myoelectric sensor. 
     
     
         41 . The method of  claim 39 , wherein the at least one sensor comprises at least one of an accelerometer and a gyroscope. 
     
     
         42 . The method of  claim 39 , wherein the limb-motion category comprises at least one of level ground walking, walking up or down stairs, walking up or down ramps, running, inclination, declination, step, and non-step. 
     
     
         43 . The method of  claim 39 , further comprising storing data associated with at least one of the time series of motion signals, experimental data, or calibration data. 
     
     
         44 . The method of  claim 39 , further comprising communicating with a user or an external device through an interface. 
     
     
         45 . The method of  claim 39 , wherein said processing the filtered at least one time series of motion signal comprises comparing the filtered at least one time series of motion signal with a set of sample series of motion signals to identify the at least one limb-motion category. 
     
     
         46 . The method of  claim 39 , further comprising identifying at least one of heel strike, toe down, heel off, toe off, midswing and end of swing. 
     
     
         47 . A system comprising:
 a means for producing a time series of motion signals indicative of a movement of an actuatable prosthetic device;   a means for receiving the time series of motion signals indicative of the movement of the actuatable prosthetic device;   a means for filtering selected at least one time series of motion signal of the time series of motion signals;   a means for processing the filtered at least one time series of motion signal to identify at least one limb-motion category; and   a means for controlling movement of the actuatable prosthetic device based at least in part on the identified at least one limb-motion category.   
     
     
         48 . The system of  claim 47 , wherein the means for producing a time series of motion signals indicative of a movement of an actuatable prosthetic device comprises a myoelectric sensor. 
     
     
         49 . The system of  claim 47 , further comprising a means for identifying at least one limb-motion event comprising at least one of heel strike, toe down, heel off, toe off, midswing and end of swing. 
     
     
         50 . The system of  claim 47 , wherein the at least one limb-motion category comprises at least one of level ground walking, walking up or down stairs, walking up or down ramps, running, inclination, declination, step, and non-step.