Control system for prosthetic limb
A controller for a prosthetic device includes a processing section, an interface section connected to the processing section, and a power supply connected to both the processing section and the interface section. A dorsal indicator and a dorsal switch are disposed in a hand portion of the prosthetic device, and are both connected to the interface section.
1. A controller for a prosthetic device, comprising:
a processing section;
an interface section connected to the processing section;
a power supply connected to the processing section and the interface section;
a dorsal indicator disposed in a hand portion of the prosthetic device and connected to the interface section; and
a dorsal switch disposed in the hand portion and connected to the interface section, wherein
the controller is completely disposed in a hand portion of the prosthetic device,
the processing section and the interface section are disposed on a processing board and an interface board, respectively,
the processing board and the interface board are disposed directly on top of each other in a tray of the hand portion, and
one of the processing section and the interface section is configured to pivot to expose the other of the processing section and the interface section without disconnecting the processing section from the interface section and without disconnecting the processing section or the interface section from the hand portion.
2. The controller of claim 1 , further comprising a flex connect which connects the processing section to the interface section, wherein the processing section comprises:
a processor; and
a memory connected to the processor.
3. The controller of claim 2 , wherein the processor does not use any power when the prosthetic device is turned off.
4. The controller of claim 2 , wherein
the memory is implemented in a package-on-package configuration, and
interface section comprises a field programmable gate array.
5. The controller of claim 1 , wherein
the interface section comprises a plurality of mating receptacles, and
said plurality of mating receptacles comprises:
an interface debug mating receptacle; and
one or more mating receptacles for a thumb, an index finger, a middle finger, a ring finger and a little finger.
6. The controller of claim 1 , wherein the interface section comprises:
a controller area network bus;
finger buses; and
input-output interfaces which connect the controller area network bus and the finger buses to one or more components of a plurality of components.
7. The controller of claim 6 , wherein the plurality of components comprises a small motor controller, a large motor controller, a neural fusion unit, a socket controller, a fingertip sensor node, a temperature sensor, a position sensor, a contact sensor and a torque sensor.
8. The controller of claim 1 , wherein
the prosthetic device is a modular prosthetic limb.
9. The controller of claim 8 , wherein
the processing section and the interface section are disposed on a processing board and an interface board, respectively,
the processing board and the interface board are offset from each other and angled with respect to each other to conform to a contour of a dorsal shell of the hand portion, and
an angle formed by planes defined by the processing board and the interface board is from about 10 degrees through about 20 degrees.
10. A system for controlling a prosthetic device, comprising:
a limb controller comprising:
a processing section;
an interface section connected to the processing section;
an indicator disposed in a hand portion of the prosthetic device and connected to the interface section; and
a dorsal switch disposed in the hand portion and connected to the interface section;
a power supply connected to the processing section and the interface section;
a controller area network bus connected to the limb controller; and
finger buses connected to the limb controller.
11. The system of claim 10 , further comprising:
a large motor controller connected to the system controller area network bus;
a neural fusion unit connected to the system controller area network bus; and
a socket controller connected to the system controller area network bus.
12. The system of claim 10 , wherein
the processing section comprises:
a processor; and
a memory connected to the processor, and
the memory is implemented in a package-on-package configuration.
13. The system of claim 12 , wherein
the prosthetic device is a modular prosthetic limb, and
the limb controller is completely disposed in the hand portion of the modular prosthetic limb.
14. The system of claim 13 , wherein
the processing section and the interface section are disposed on a processing board and an interface board, respectively,
the processing board and the interface board are offset from each other and angled with respect to each other to conform to a contour of a dorsal shell of the hand portion, and
an angle formed by planes defined by the processing board and the interface board is from about 10 degrees through about 20 degrees.
15. The system of claim 14 , wherein the angle formed by the planes is equal to about 15 degrees.
16. The system of claim 13 , wherein
the processing section and the interface section are disposed on a processing board and an interface board, respectively, and
the processing board and the interface board are disposed directly on top of each other in a tray of the hand portion of the modular prosthetic limb.
17. The system of claim 16 , wherein one of the processing section and the interface section is configured to pivot to expose the other of the processing section and the interface section without disconnecting the processing section from the interface section and without disconnecting the processing section or the interface section from the hand portion.
18. The system of claim 10 , wherein
the processing section does not use any power when the prosthetic device is turned off, and
the limb controller is configured to power up the prosthetic device based on a bias voltage of the controller area network bus.