Method and device for controlling an artificial orthotic or prosthetic joint
The invention relates to a method and device for controlling an artificial orthotic or prosthetic joint of a lower extremity having a resistance device to which at least one actuator is associated, via which the bending and/or stretching resistance is changed depending on sensor data. During the use of the joint, status information is provided via sensors. During use of the joint, status information is provided via sensors, wherein a cyclic movement different from walking is determined and the resistance is reduced for the duration of the cyclic movement.
1. A method for controlling an artificial orthotic or prosthetic joint of a lower extremity, the method comprising:
providing a resistance device, at least one actuator, and sensors;
controlling the resistance device via the actuator to change at least one of a flexion resistance and an extension resistance provided by the resistance device in response to sensor data, with status information being made available via the sensors, the sensors generating the sensor data during use of the joint;
determining with the sensors maxima and minima of at least one of a joint angle and a joint-part inertial angle of the artificial orthotic or prosthetic joint during a time period;
measuring time intervals between the maxima and minima of the at least one of a joint angle and a joint-part angle;
identifying a recurring pattern of the time intervals within the time period;
associating the recurring pattern with a cyclic profile for cycling;
automatically reducing at least one of the flexion resistance and the extension resistance in the joint for a duration of the cyclic profile.
2. The method as claimed in claim 1 , wherein the cyclic profile is determined at least in part by an evaluation of kinematic variables.
3. The method as claimed in claim 1 , wherein the cyclic profile is determined at least in part by an evaluation of a phase shift between the joint angle and the joint-part inertial angle or two joint-part inertial angles or a change of at least one of the joint angle and the joint-part inertial angle.
4. The method as claimed in claim 1 , wherein, for the maximum and minimum, value ranges are established within determined values of the joint angle, the joint-part inertial angle, or a change in joint angle, and is situated for the cyclic profile to be determined.
5. The method as claimed in claim 1 , wherein a load acting in a lower attachment part is determined, and the at least one of a flexion resistance and an extension resistance is reduced when the load reaches or is below a threshold value.
6. The method as claimed in claim 1 , wherein a minimal joint angle is established that has to be present for the at least one of a flexion resistance and an extension resistance to be reduced.
7. The method as claimed in claim 1 , wherein the resistance is increased if conditions for reducing the at least one of a flexion resistance and an extension resistance are no longer present.
8. The method as claimed in claim 1 , wherein if the flexion resistance has been reduced, increasing the flexion resistance during an extension movement of the joint.
9. A method for controlling an artificial orthotic or prosthetic joint of a lower extremity, the method comprising:
providing an actuator, a resistance device, and a sensor, the sensor being configured to generate sensor data;
determining with the sensors maxima and minima of at least one of a joint angle and a joint-part inertial angle of the artificial orthotic or prosthetic joint during a time period;
measuring time intervals between the maxima and minima of the at least one of a joint angle and a joint-part inertial angle;
identifying a recurring pattern of the time intervals within the time period;
associating the recurring pattern with a cyclic profile for cycling;
automatically controlling the resistance device with the actuator to reduce at least one of a flexion resistance and an extension resistance for the duration of the cyclic profile.
10. The method as claimed in claim 9 , wherein determining the cyclic profile include using an evaluation of kinematic variables.
11. The method as claimed in claim 9 , wherein determining the cyclic profile includes using an evaluation of a phase shift between the joint angle and the joint-part inertial angle or two joint-part inertial angles or the change of these the joint angle and the joint-part inertial angle or two joint-part inertial angles.
12. The method as claimed in claim 9 , wherein, for the maximum and minimum, value ranges are established within determined values of the joint angle, the joint-part inertial angle, or a change in joint angle for determining the cyclic profile.
13. The method as claimed in claim 9 , further comprising determining a load acting in a lower attachment part, and reducing the at least one of the flexion resistance and the extension resistance when the load reaches or is below a threshold value.
14. The method as claimed in claim 9 , further comprising establishing a minimal joint angle prior to reducing the at least one of the flexion resistance and the extension resistance.
15. The method as claimed in claim 9 , further comprising increasing the at least one of the flexion resistance and the extension resistance if conditions for reducing the at least one of the flexion resistance and the extension resistance are no longer present.
16. The method as claimed in claim 9 , wherein if the flexion resistance has been reduced, increasing the flexion resistance during an extension movement of the joint.