U.S. patent number 3,866,246 [Application Number 05/306,480] was granted by the patent office on 1975-02-18 for shoulder disarticulation prosthetic system.
This patent grant is currently assigned to The United States of America as represented by the Secretary of the Navy. Invention is credited to Gerhard Schmeisser, Woodrow Seamone.
United States Patent |
3,866,246 |
Seamone , et al. |
February 18, 1975 |
Shoulder disarticulation prosthetic system
Abstract
The invention is an externally powered prosthesis for shoulder
disarticulation amputees. Proportional control of the prosthesis is
provided by a displacement sensor preferably comprised of a movable
magnet and a stationary semiconductor element which responds to
changes in magnetic field strength. The movable magnet is displaced
by the transverse motion of the amputee's skin (caused by
controlled flexure of a suitably located muscle), thereby producing
a signal in the semiconductor element which is proportional to the
skin motion. Control of the prosthesis is then accomplished by
amplification and utilization of the signal to drive an electric
motor powered by an external battery.
Inventors: |
Seamone; Woodrow (Rockville,
MD), Schmeisser; Gerhard (Gibson Island, MD) |
Assignee: |
The United States of America as
represented by the Secretary of the Navy (Washington,
DC)
|
Family
ID: |
23185495 |
Appl.
No.: |
05/306,480 |
Filed: |
November 14, 1972 |
Current U.S.
Class: |
623/24; 623/25;
623/60 |
Current CPC
Class: |
A61F
2/58 (20130101); A61F 2/72 (20130101); A61F
2220/0025 (20130101); A61F 2002/30523 (20130101); A61F
2002/701 (20130101) |
Current International
Class: |
A61F
2/72 (20060101); A61F 2/50 (20060101); A61F
2/58 (20060101); A61f 001/00 (); A61f 001/06 () |
Field of
Search: |
;3/1-1.2,12-12.7 |
References Cited
[Referenced By]
U.S. Patent Documents
Other References
"A Strain Sensor Controlled Orthotic Splint," by Robert P.
Patterson et , Proceedings of the 23rd Annual Conference on
Engineering in Medicine and Biology, Washington Hilton Hotel,
Washington, D.C., Nov. 15-19, 1970, page 239..
|
Primary Examiner: Frinks; Ronald L.
Claims
We claim:
1. A control system for actuating a prosthesis from voluntary skin
movement of a user, comprising:
a prosthesis;
displacement sensing means for measuring the amplitude of movement
of a point on the skin of a user of the prosthesis, the sensing
means comprising
a magnet,
connecting means joined to the magnet and adapted to be connected
to a point on such user's skin, and
magnetic field sensitive means for sensing a change in the magnetic
field on displacement of the magnet by motion of that point on such
user's skin to which the connecting means is joined;
means for actuating said prosthesis in response to said sensed skin
movement; and
means for providing a position feedback signal to said actuating
means for identifying the degree of actuation imparted to said
prosthesis.
2. The control system of claim 1, and further comprising means for
delaying in time said position feedback signal.
3. A control system for actuating a prosthesis from voluntary skin
movement of a user, comprising:
a prosthesis;
means for sensing displacement of a point on the skin of a user of
the prosthesis, said means comprising,
a magnet,
connecting means joined to the magnet and adapted to be connected
to a point on such user's skin, and
magnetic field sensitive means for sensing a change in the magnetic
field occurring on displacement of the magnet relative to said
magnetic field sensitive means, the displacement of the magnet
occurring due to voluntary motion of that point on such user's skin
to which the connecting means is joined;
means for converting the sensed skin displacement into a DC level
signal having an amplitude proportional to the magnitude of the
skin displacement;
means for identifying the exact physical position of said
prosthetic device and for producing therefrom a position feedback
signal;
means for actuating said prosthesis in response to said sensed skin
displacement, said actuation means providing an electrical signal
sufficient to actuate said prosthesis and including a summing
amplifier for producing said electrical actuation signal when the
resultant threshold output amplitude of said means for converting
the sensed skin displacement into a DC level signal is greater than
the amplitude of said position feedback signal;
means for converting said electrical signal into mechanical energy;
and,
means for producing a control signal effective to actuate said
prosthetic device only when the sensed skin displacement is above a
predetermined threshold level, said degree of prosthetic actuation
being proportional to the amplitude of said sensed skin
displacement, said means for producing said control signal
comprising a standard waveform generator producing a predetermined
amplitude signal, said electrical actuation signal being generated
when said output amplitude of said summing amplifier is greater
than said predetermined amplitude of the standard waveform
signal.
4. The control system of claim 3 wherein the magnetic field
sensitive means is a semiconductor.
5. The control system of claim 3 wherein said means for producing a
position feedback signal comprises a potentiometer whose wiper arm
is mechanically actuated in direct proportion to the degree of
actuation imparted to said prosthesis, the voltage sensed by said
wiper arm being received by said actuating means.
6. The control system of claim 3 and further comprising means for
delaying in time said position feedback signal.
7. The control system of claim 3 wherein said means for converting
said electrical signal into mechanical energy comprises a DC motor.
Description
STATEMENT OF GOVERNMENT INTEREST
The invention herein described was made in the course of or under a
contract, or subcontract thereunder, with the Department of the
Navy.
CROSS-REFERENCE TO RELATED APPLICATIONS
The subject matter of the invention relates to a copending patent
application, entitled "Myoelectrically Controlled Prosthesis," Ser.
No. 114,262, filed Feb. 10, 1971 and now U.S. Pat. No.
3,735,425.
BACKGROUND OF THE INVENTION
The invention relates to prosthetic and orthotic systems wherein a
terminal device is opened in direct proportion to voluntary
movement by a user. More particularly, the invention is a
prosthesis especially suited for shoulder disarticulation amputees,
the prosthesis being controlled by the signal produced by a motion
transducer in response to voluntary skin movement. The high-level,
essentially DC signal thus produced may then be conditioned and fed
into known servo electronics in order to eventually drive a
geared-down DC motor which, in turn, drives a mechanical linkage
for operating the moving parts of the prosthesis.
SUMMARY OF THE INVENTION
The present invention is particularly useful for prosthetic
applications where suitable electromyographic signal sites are not
available for "emg" control of a prosthesis. Such situations
require that a signal be produced by other means in order to
control an externally powered prosthesis. Skin motion on the
remaining portion of an amputee's stump is used in the present
invention to proportionately control the prosthesis. The motion of
the skin is sensed by a motion transducer, the output of which
transducer is a signal which may then be conditioned and used to
operate a battery-powered servo electronics and motor system. A
terminal device on the prosthesis is opened in direct proportion to
the signal amplitude as controlled by the user's movement of a
particular skin location. Essentially, skin motion produces a
control signal which causes a servo control unit to drive a DC
motor, consequently opening the prosthesis. The prosthesis begins
to open until a feedback voltage proportional to the opened
position is equal to the control signal. In this manner, the
terminal device of the prosthesis is servo controlled for all
positions between fully closed and fully opened. In a similar
fashion, elbow motion of the prosthesis may be controlled.
A primary object of the present invention is to provide a
prosthetic system suitable for those amputees who do not possess
"emg" sites of sufficient strength to control a myoelectrically
operated prosthesis.
A further object of the invention is to provide a motion sensor
system for a prosthesis whereby voluntary movement of an amputee's
skin produces a proportional signal which may be utilized to
operate the prosthesis.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic illustrating the major components of the
invention;
FIG. 2 is a basic block diagram of the invention;
FIG. 3 is a schematic of the control unit;
FIG. 4 is a chart illustrating the input and output waveforms of
the pulse width modulator;
FIG. 5 is a schematic of the power unit;
FIG. 6 is a cross-sectional view of the power unit; and
FIG. 7 is an idealized perspective of a prosthesis configured
according to the invention, certain parts being shown in
phantom.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
Referring to FIG. 1, a generalized system diagram illustrating the
basic elements of the present invention is provided. Voluntary skin
movement at 10 is detected by a motion transducer 12, the signal 11
from the transducer 12 being conditioned at 14 before being fed
into a control unit 16. The control unit 16 comprises
servoelectronic mechanisms well-known in the art and will be
described in detail hereinafter. External power is provided to the
control unit 16 by battery 18, the control unit controllably
supplying power to power unit 20 according to the signal 11 and
also according to a position feedback signal 13 generated by power
unit 20. The power unit 20 is comprised of a DC torque motor (not
shown) which drives a cable 22 for operation of the prosthesis 24
in a well-known manner.
FIG. 2 provides a more detailed diagrammatical illustration of the
present prosthesis system. The system is essentially a closed-loop
position servo arrangement with position feedback that follows the
signal 11 generated by the motion transducer 12 in response to
voluntary skin movement at 10. The motion transducer 12 preferably
comprises a magnet 30 attached to a string 32, the string 32 being
joined to a user's skin by an adhesive tab 34. Movement of the
user's skin causes the string 32 to displace the magnet 30 in a
lateral direction, this displacement being sensed by a
magnetic-field sensitive semiconductor unit 36. The semiconductor
unit 36 is comprised of semiconductor elements (not shown) which
sense changes in the magnetic field experienced by the unit 36. The
unit 36 is known in the electronic arts and, on exposure to a
changing magnetic field such as is produced by the movement of the
magnet 30, produces a signal proportional to the change in said
field. Therefore, the signal 11 is proportional to the movement of
the user's skin at 10. Electronic excitation is applied to the
transducer 12 by signal conditioning circuit 14 which circuit 14
also provides gain control before the signal is applied to the
control unit 16. The signal applied to the control unit 16 is a DC
control signal that is approximately proportional in amplitude to
the amplitude of the skin movement detected by the motion
transducer 12.
Signal utilization is now accomplished in a known fasion that will
be described for convenience. In order to minimize electrical power
consumption a pulse-width modulation system is used to control the
output torque of a DC torque motor 38 which actuates the prosthetic
device 24. More specifically, a pulse-width modulator 40 utilizes
the output of a triangular wave generator 42 and the output 43 of a
summing amplifier 44 to provide a pulse-width modulated signal
which controls motor current. The DC torque motor 38 is driven in
one direction only. The output 43 of the summing amplifier 44
corresponds to the difference between the amplitude of the signal
11 and the position of control cable 46 as represented by a shaped
position signal 47 of a lead-lag circuit 48. Since output 43 of the
summing amplifier 44 reflects the above mentioned difference, it
will hereinafter be referred to as error signal 43. If the
amplitude of error signal 43 is small, current in the motor 38
flows for a small part of the duration of the output of the
triangular wave generator 42. Accordingly, the "on" time of the
motor 38 is a function of the magnitude of the error signal 43. By
operating a power switching transistor 50 in a power switching mode
and causing the motor 38 to operate only when the output of the
lead-lag circuit 48 is less than the signal 11, relatively little
power is dissipated. When the motion transducer 21 is not sensing
skin displacement, standby power consumption in the electronic
component is quite low, i.e., less than 300 milliwatts No
mechanical switches or special power cutoff relays or circuits are
required to switch from "standby" to "operate" condition.
A potentiometer 52 supplies the shaped position signal 47 via the
lead-lag circuit 48 to the summing amplifier 44. This feedback
arrangement provides high gain at low frequencies and less gain as
frequency is increased. Such signal processing makes opening of a
terminal device on the prosthetic device 24 relatively easy to
control at all elbow flexion positions with or without an object in
the terminal device. This control technique facilitates a simple
interface between the amputee and his prosthesis. The amputee need
generate only one signal when he desires to open the terminal
device on the prosthesis, the terminal device being automatically
closed by spring or elastic action when the user's skin is relaxed
and returned to normal position. Thus, an amputee maintains a grasp
force without additional effort or attention on his part. When the
amputee wishes to disengage the terminal device, he again moves his
skin, which motion is detected by the transducer 12. The signal 11
thus produced provides the voltage needed for opening of the
terminal device, thereby freeing the object being grasped.
Referring now to FIG. 3, a schematic diagram is shown of the
control unit 16. The control unit 16 is known in the art, having
first being described in the copending patent application
referenced hereinabove. Due to the differing inputs into the
control unit 16 of the present invention when compared to the
aforementioned patent application, a brief description of said unit
16 follows. The signal 11 generated by the motion transducer 12 in
response to movement of a user's skin is passed to the summing
amplifier 44 and then to the pulse width modulator 40. The output
of the pulse width modulator 40 is subsequently applied to the
power unit (not shown) which ultimately actuates the prosthetic
device (e.g., a hand or an elbow). In order to minimize electrical
power consumption within the power unit, the pulse width modulation
system is employed. The pulse width modulator 40 utilizes the
outputs 60 and 62, respectively, of the triangular wave generator
42 and the output of a servo amplifier 64 to provide a pulse-width
modulated signal 66 which regulates motor current.
In order to more clearly describe the operation of the control unit
16, discussion of the lead-lag circuit 48 and the associated
feedback loops will be temporarily omitted. The output signal 62 of
summing amplifier 44 represents a DC signal that is proportional to
skin movement. This DC signal is applied to input 68 of the pulse
width modulator 40. Also, the output 60 of the triangular wave
generator 42 is received at input 68. The operation of the pulse
width modulator 40 can best be explained by additional reference to
FIG. 4. The DC output 43 of the servo amplifier 64 is shown by
waveform (a) of FIG. 4. In this condition, there is no sensed
signal being received from the motion transducer. The DC output
signal as shown in waveform (a) is obtained from a potentiometer 70
and applied to input 72 of operational amplifier 74. The output,
E.DELTA., from output terminal 76 of the triangle wave generator
42, shown by waveform b) of FIG. 4, is applied to the negative
input 68 of the operational amplifier 74. Waveforms (a) and (b) are
combined within the amplifier 74 to produce the summed waveform (c)
of FIG. 4. As long as the summed waveform is less than 0 volts, the
output of the pulse width modulator 40 is as illustrated by
waveform (d) which represents the control unit 16 in the "off"
condition. Thus, the prosthesis does not respond since there is no
effective enabling signal. When the motion transducer senses
movement of the skin, there is applied to input 78 of the amplifier
64 a positive DC signal. When combined with the threshold level
signal as produced by the potentiometer 70, the signal as
represented by waveform (e) is thus applied to input 68 of
amplifier 74. When waveform (e) is combined with the
E.DELTA.-waveform (f), the resultant signal as shown by the upper
half of waveform (g) is produced. Whenever the upper peak of
waveform (g) exceeds 0 volts, the pulse width modulator 40 shifts
from the non-enabling Ep.sub.1 voltage level to the enabling
Ep.sub.2 level. In this manner does the prosthetic device actuate
only when the sensed skin motion exceeds a predesignated (and
variable) threshold. As the prosthesis is being actuated its
physical position is indicated by the wiper arm of a position
potentiometer (not shown). The feedback position signal 80 is
applied to the lead-lag circuit 48 at terminals 82 and 84. The
function of the lead-lag circuit 48 is to prevent actuation of the
prosthesis by a short term, high gain signal, e.g., noise. Via
resistors 86, 88, 90 and 92 and capacitor 94, the prosthesis will
only respond to a long term signal, thereby preventing the
prosthetic device from continually opening and closing upon every
sensed signal.
Referring to FIG. 5, there is shown a schematic diagram of the
power unit. The power unit is also known in the art but is briefly
described hereinafter to provide a more complete description of the
system used to operate a prosthesis according to the present
invention. Emergent from the pulse width modulator 40 is a series
of enabling pulses 103, as shown by the lower portion of waveform
(g) of FIG. 4. These pulses are applied to the motor 38 after being
amplified by power transistor 100. Transistors 102 and 104 serve as
driver transistors for the transistor 100. Upon energization, the
rotation of the armature of the motor 38 causes like rotation in
gear reduction means 106. After the necessary gear reduction is
accomplished the control cable 46 is connected to a pulley that is
attached to the last gear element (not shown). Attached to the end
of the control cable 46 is the prosthetic device 24. In this
manner, rotation of the motor shaft causes activation of the
prosthetic device 24. Also connected to the gear means 106 is the
wiper arm 108 of the potentiometer 52. In this manner, position
feedback signal 80 is provided for the lead-lag circuit 48. A
transient suppression circuit is provided for the power unit for
inhibiting undesired interference with power transistor 100 and
driver transistors 102 and 104 when the motor 38 is switched on and
off. The transient suppression circuit consists of resistor 110,
zener diodes 112 and 114, and diode 116.
The gear box reduction means 106 is shown in the cross-sectional
drawing of FIG. 6. The output signal of power transistor 100 is
applied to brush assembly 118 causing rotation of the rotor 120,
and thus rotor pinion 122. Rotation of rotor pinion 122 induces
rotation in spur gear 124 and pinion gear 126. Final gear reduction
is accomplished by spur gear 128 to which is attached at its upper
end pulley 130 and at its lower end potentiometer 52. Trained
around pulley 130 is the control cable 46 which actuates the
prosthetic device. The position feedback signal is provided by the
potentiometer 52 and wiper arm 108, as previously described.
FIG. 7 illustrates an embodiment of the present prosthetic system
which is capable of elbow movement. The prosthesis 150 is
particularly suited to individuals who have shoulder
disarticulation amputations. In such situations, the signal to be
controllably generated by the amputee for the purpose of driving
the prosthesis is derived from voluntary movement of the skin
surface 152 near the amputation site. As has been described
previously, an adhesive tab 154 disposed on the skin surface 152
holds a string 156 which is connected to a magnet (not shown). The
magnet comprises a portion of a motion transducer 158 which senses
the movement of the skin surface 152. The output signal of the
transducer 158 is directed to a control unit 160 via signal cable
162. Control signals from the control unit 160 to the power unit
164 as well as position feedback signals from the power unit 164 to
the control unit 160 are transmitted via signal cable 166. Upon
receiving energization commands from the control unit 160, a motor
within the power unit 164 causes the control cable 46 to retract
(as described previously), consequently opening the fingers 168 on
a prosthetic hand 170 or the digits of a prosthetic hook. Since the
operation of the prosthetic hand 170 is well-known in the art,
description of this mechanical process has been deemed unnecessary.
Retraction of the cable 46 causes forearm 172 to move upwardly if
the elbow joint 174 is unlocked. When the forearm 172 is in the
desired position, the amputee pulls on a locking cable 176 by means
of a shoulder harness 178, thereby causing lever arm 180 to lock
the forearm 172 into position. When the forearm 172 is locked into
position via the lever arm 180, further retraction of the control
cable 46 causes the fingers 168 of the hand 170 to open. The motor
and power supply may be placed within the physical confines of the
prosthesis 150 or may be disposed on a special belt to be worn
about the amputee's waist to reduce prosthesis weight.
* * * * *