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WO2025151573A1 - Procédé de commande d'assistance à l'oscillation - Google Patents

Procédé de commande d'assistance à l'oscillation

Info

Publication number
WO2025151573A1
WO2025151573A1 PCT/US2025/010849 US2025010849W WO2025151573A1 WO 2025151573 A1 WO2025151573 A1 WO 2025151573A1 US 2025010849 W US2025010849 W US 2025010849W WO 2025151573 A1 WO2025151573 A1 WO 2025151573A1
Authority
WO
WIPO (PCT)
Prior art keywords
knee
shank
angle
link
torque control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2025/010849
Other languages
English (en)
Inventor
Michael Goldfarb
David Marsh
Marco PULITI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vanderbilt University
Original Assignee
Vanderbilt University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vanderbilt University filed Critical Vanderbilt University
Publication of WO2025151573A1 publication Critical patent/WO2025151573A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control

Definitions

  • prostheses and orthoses As prostheses and orthoses become increasingly electronically-controlled, they have an increasingly wide range of functional capabilities, and in particular are capable of adapting between multiple discrete activities, such as level walking, sloped walking, and stair ascent or descent.
  • the torque control is an unstable function of the shank angular velocity such that the torque control drives the shank away from a given equilibrium shank angular velocity.
  • Equation 10 describes the dynamics of the shank motion during swing phase in the conventional ordinary differential equation form (i.e., homogeneous dynamics on the LHS, forcing terms on the RHS).
  • the forcing terms in equation 10 are functions of the linear acceleration of the knee (i.e., u t ) and the angular velocity of the thigh (i.e., 0 t ), both of which are directly associated with user thigh movement (i.e., see equation 6). Therefore, the user thigh motion is the sole forcing input in the passive prosthesis.
  • the system now has two sources of movement power - one from the user (i.e., thigh movement) and one from the prosthesis (i.e., the motor) - which must be coordinated such that the latter assists the former, without destructively interfering with it.
  • these sources of movement are under the control of two different controllers - the central nervous system (CNS) of the user controls natural movement of the knee (i.e., via thigh movement), while a controller on the knee prosthesis controls artificial movement of the knee (i.e., via the knee motor).
  • CNS central nervous system
  • a controller on the knee prosthesis controls artificial movement of the knee (i.e., via the knee motor). It is important that the motor assist the user in performing a movement, without competing with or otherwise interfering with or supplanting the user’ s movement or movement intent.
  • FIG. 7 a block diagram of a motorized prosthesis is shown with two distinct exogenous control inputs: one from the user (the user source of motion) and one from the prosthesis (the prothesis source of motion). These two inputs (user and motor) are shown in the block diagram of FIG. 7, where now there exists two exogenous inputs (i.e., inputs externally imposed on a system, but not otherwise affected by the system): one from the user and one from the prosthesis.
  • the passive prosthesis system depicted in FIG. 5, includes only a single exogenous input, the one from the human user.
  • T km becomes solely a function of 0 S (and its derivatives), that term effectively becomes an endogenous term, and therefore can be moved to the left-hand- side of the equation (i.e., homogeneous dynamics of the system), thus leaving only 0 t (and its derivatives) on the right-hand-side (i.e., thus leaving a single exogenous input, which is solely under the control of the user).
  • T km is also a function of 0 k (and its derivatives), since 0 k can be decomposed into a 0 S and 0 t , and therefore separated into homogeneous and forcing terms respectively.
  • the objective of the control approach is to use the motor torque in a manner that alters the homogeneous dynamics, rather than use it as a separate forcing term (which is the convention). Therefore, T km can take the general form:
  • the motor controller is a function solely of 0 S and 0 S ,
  • FIG. 8 a block diagram of the prosthesis dynamics is shown. Specifically, FIG. 8 shows Motorized prosthesis dynamics with T km a function of 0 S (and derivatives). As in FIG. 5 (the passive system), this system entails only a single user-controlled exogenous input. In the more general case in which motor control torque is a function of both 0 S and 0 k and their derivatives:
  • FIG. 10 a simplified depiction of the motorized knee prosthesis systems depicted in FIGS. 8 and 9 are shown.
  • FIG. 11 shows a simplified depiction of the motorized knee prosthesis system shown in FIG. 9.
  • One of the primary purposes of the knee motor is to provide assistive power to aid the shank motion during swing phase. Reformulating the prosthesis motor control law such that the motor torque is strictly a function of 6 S as described above converts the exogenous motor input into an artificial homogeneous term rather than a forcing term.
  • the control law can be decomposed (as illustrated above) into a homogeneous term (i.e., function of 0 S ) and a forcing term, where the forcing term is strictly a function of 9 t (and its derivatives); as such, the original forcing term (thigh-shank inertial coupling) remains an essential component of user-generated movement, although it is supplemented by an additional forcing term that is also a function of thigh motion, thus leaving the natural exogenous input from the user (i.e., thigh motion) as the sole exogenous input.
  • Whether the motor is assistive or resistive in the control formulation described here is a function of whether the homogeneous terms rendered by the control law are passive or active terms, or alternatively whether they have a stabilizing or destabilizing effect on the homogeneous dynamics. That is, if the homogeneous terms rendered by the motor control law are either active, or provide a destabilizing effect on the homogeneous dynamics, the net effect of the control law will be to provide assistance to movement. I f, however, the terms are passive or stabilizing, they will provide resistance to movement.
  • the product of motor torque and angular velocity (which is power) in this case will always be negative; since this term is fed back into the knee/shank passive dynamics through a negative sign (i.e., the term is positive when appearing on the LHS), the product of motor torque and angular velocity (i.e., power) when appearing on the homogeneous side of the dynamics will always be positive. In other words, the motor will always add power to the homogeneous dynamics.
  • the term will show up on the RHS as a positive term in 6 S , which will show up on the LHS as a negative term in 6 S , which is well known in the study of second- order dynamic systems to be destabilizing. Therefore, any motor control torque function that exists strictly in the second and fourth quadrants of the torque/velocity plane will appear in the dynamics as an active homogenous term, and therefore will always provide assistance without introducing an independent exogenous input.
  • FIG. 12 a motor torque and shank or knee angular velocity plane is shown. Any function in the first and third quadrants will generate power.
  • Three example functions are a linear function (1), a quadratic function (2), and a signum function (3).
  • a large number of functions can satisfy the requirements illustrated by FIG. 12, some of which include:
  • the motor adds a destabilizing term to the homogeneous dynamics, which adds supplemental power to the shank system, while leaving the RHS strictly a function of user thigh motion (i.e., user thigh motion remains the sole exogenous input to the shank dynamics), and while also leaving the natural mechanism of knee motion (i.e., the first term on the RHS) fully intact.
  • the homogeneous destabilizing control described here would be employed such that the overall stability of the homogeneous shank system is bounded in time and/or in space.
  • the destabilizing homogeneous control functions described here can be used to add supplemental power to passive dynamics, where the collective system (i.e., natural homogeneous dynamics combined with the artificial homogeneous dynamics) remains passive. In this case, the controller will modify the passive dynamics to be less passive, but leave the overall system passive (i.e., stable).
  • the overall homogeneous dynamics will remain passive if a destabilizing control term of the form of equation 17 is used with the system described by homogeneous passive knee torque of the form of equation 7, as long as the artificial destabilizing parameter B is less than or equal to the passive intrinsic b of the mechanical system.
  • the destabilizing homogeneous control functions can be used to add sufficient supplemental power, such that the collective system (i.e., natural homogeneous dynamics combined with the artificial homogeneous dynamics) becomes active (i.e., unstable).
  • the instability can be bounded, either naturally or artificially, such that the instability provided by the motor control law results in a local instability rather than a global instability.
  • the controller can monitor the system state (e.g., knee angle or angular velocity), and can modify the control law to saturate or limit motor torque or power when the system exceeds a predetermined threshold (e.g., a knee angle threshold, knee angular velocity threshold, motor power threshold, etc.).
  • a predetermined threshold e.g., a knee angle threshold, knee angular velocity threshold, motor power threshold, etc.
  • the controller can alternatively monitor and limit the duration of the unstable state. Limits may also be due to mechanical means, such as a transmission ratio that attenuates or saturates the maximum motor torque as a function of knee angle, or a hard stop that prevents the knee angle from exceeding a given angle.

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

Une prothèse de genou comprend une liaison de tige, une liaison de cuisse couplée de manière rotative à la liaison de tige et au moins un élément de commande motorisé configuré pour appliquer un couple entre la liaison de cuisse et la liaison de tige. Le mouvement de tige est décrit par au moins une vitesse angulaire de tige par rapport à un cadre de référence inertiel. La prothèse de genou comprend en outre au moins un capteur, et un dispositif de commande. Le dispositif de commande est configuré pour : recevoir des mesures de capteur provenant du ou des capteurs et déterminer un état actuel d'une pluralité d'états comprenant au moins un état d'oscillation et un état d'appui ; et fournir une commande de couple pour le ou les éléments de commande alimentés si l'état actuel est un état d'oscillation. La prothèse de genou mesure la vitesse angulaire de la tige. La commande de couple est fonction d'au moins la vitesse angulaire de la tige.
PCT/US2025/010849 2024-01-11 2025-01-09 Procédé de commande d'assistance à l'oscillation Pending WO2025151573A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202463619817P 2024-01-11 2024-01-11
US63/619,817 2024-01-11

Publications (1)

Publication Number Publication Date
WO2025151573A1 true WO2025151573A1 (fr) 2025-07-17

Family

ID=96387528

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2025/010849 Pending WO2025151573A1 (fr) 2024-01-11 2025-01-09 Procédé de commande d'assistance à l'oscillation

Country Status (1)

Country Link
WO (1) WO2025151573A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130102935A1 (en) * 2008-05-20 2013-04-25 Berkeley Bionics Device and Method for Decreasing Energy Consumption of a Person by Use of a Lower Extremity Exoskeleton
US20180177667A1 (en) * 2014-07-10 2018-06-28 Osaka University Method for determining leg-phase shift timing, leg-phase shift timing determination apparatus, method for controlling walking assistance, and walking assistance apparatus
US20190328553A1 (en) * 2016-11-18 2019-10-31 Cyberdyne Inc. Artificial leg motion assisting apparatus and artificial leg motion assisting method
WO2022087161A1 (fr) * 2020-10-20 2022-04-28 University Of Utah Research Foundation Système d'articulation de genou et de cheville motorisé à commande adaptative
US20230270571A1 (en) * 2022-02-25 2023-08-31 Vanderbilt University Powered-on passive knee prosthesis system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130102935A1 (en) * 2008-05-20 2013-04-25 Berkeley Bionics Device and Method for Decreasing Energy Consumption of a Person by Use of a Lower Extremity Exoskeleton
US20180177667A1 (en) * 2014-07-10 2018-06-28 Osaka University Method for determining leg-phase shift timing, leg-phase shift timing determination apparatus, method for controlling walking assistance, and walking assistance apparatus
US20190328553A1 (en) * 2016-11-18 2019-10-31 Cyberdyne Inc. Artificial leg motion assisting apparatus and artificial leg motion assisting method
WO2022087161A1 (fr) * 2020-10-20 2022-04-28 University Of Utah Research Foundation Système d'articulation de genou et de cheville motorisé à commande adaptative
US20230270571A1 (en) * 2022-02-25 2023-08-31 Vanderbilt University Powered-on passive knee prosthesis system

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