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公开(公告)号：US20240082023A1
公开(公告)日：2024-03-14
申请号：US18357999
申请日：2023-07-24
CPC分类号： A61F2/72 , A61B5/1107 , A61B5/4519 , A61F2/582 , A61F2/70 , B25J9/1075 , G06F3/011 , G06F3/015 , G16H30/20 , A61F2002/6827
摘要： An approximation method and system are provided for more quickly controlling a prosthetic or other device by reducing computational processing time in a muscle model that can be used to control the prosthetic. For a given muscle, the approximation method can quickly compute polynomial structures for a muscle length and for each associated moment arms, which may be used to generate a torque for a joint position of a physics model. The physics model, in turn, produces a next joint position and velocity data for driving a prosthetic. The approximation method expands the polynomial structures as long as expansion is possible and sufficiently beneficial. The computations can be performed quickly by expanding the polynomial structures in a way that constrains the muscle length polynomial to the moment arm polynomial structures, and vice versa.
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公开(公告)号：US20240350285A1
公开(公告)日：2024-10-24
申请号：US18686027
申请日：2022-08-24
CPC分类号： A61F2/72 , G06F30/10 , A61F2/54 , A61F2002/704
摘要： Various examples are provided related to biomimetics and use of ANNs for decoding and control. In one example. a method includes generating muscle model parameters by a musculoskeletal kinematic transformation implemented by a first artificial neural network. generating one or more physics engine parameters from a muscle model, and generating a physics engine transformation implemented by a second artificial neural network based at least in part upon the one or more physics engine parameters. The muscle model parameters can be based at least in part upon sensor inputs and the one or more physics engine parameters can be based at least in part the muscle model parameters. A sensorimotor mechanism can be controlled based on the physics engine transformation. In another example. a system for prosthetic control includes a plurality of sensors and processing circuitry configured to control a sensorimotor mechanism based upon the physics engine transformation.
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公开(公告)号：US20230021860A1
公开(公告)日：2023-01-26
申请号：US17787701
申请日：2020-12-19
申请人： West Virginia University , University of Pittsburgh - Of the Commonwealth System of Higher Education
发明人： Anton Sobinov , Sergiy Yakovenko , Valeriya Gritsenko , Matthew Boots , Robert Gaunt , Jennifer Collinger , Lee Fisher
摘要： A system and method for controlling a device, such as a virtual reality (VR) and/or a prosthetic limb are provided. A biomimetic controller of the system comprises a signal processor and a musculoskeletal model. The signal processor processes M biological signals received from a residual limb to transform the M biological signals into N activation signals, where M and N are integers and M is less than N. The musculoskeletal model transforms the N activation signals into intended motion signals. A prosthesis controller transforms the intended motion signals into three or more control signals that are outputted from an output port of the prosthesis controller. A controlled device receives the control signals and performs one or more tasks in accordance with the control signals.
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公开(公告)号：US20200265943A1
公开(公告)日：2020-08-20
申请号：US16643163
申请日：2018-09-18
摘要： An approximation method and system are provided for more quickly controlling a prosthetic or other device by reducing computational processing time in a muscle model that can be used to control the prosthetic. For a given muscle, the approximation method can quickly compute polynomial structures for a muscle length and for each associated moment arms, which may be used to generate a torque for a joint position of a physics model. The physics model, in turn, produces a next joint position and velocity data for driving a prosthetic. The approximation method expands the polynomial structures as long as expansion is possible and sufficiently beneficial. The computations canbe performed quickly by expanding the polynomial structures in a way that constrains the muscle length polynomial to the moment arm polynomial structures, and vice versa.
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5.发明授权公开(公告)号：US09839200B2
公开(公告)日：2017-12-12
申请号：US15259216
申请日：2016-09-08
发明人： Sergiy Yakovenko , Matthew Boots , Ryan Ellison , Kiril Tuntevski
CPC分类号： A01K29/005 , A01K1/031 , A01K15/027 , A61B5/1038 , A61B5/112
摘要： A system and method for quantitatively assessing the changes in control of asymmetric locomotor behavior of an animal comprising analyzing the phase modulation in response to imposed asymmetric stepping tasks for quantitatively assessing changes in control of asymmetric locomotor behavior. A walkway gait device is provided comprising an elevated grid having at least one platform having a face and at least two or more pegs located in front or back of said platform, wherein each peg has a pressure sensor or switch in communication with a detection unit for capturing the pressure detected by one or more of the pressure sensors or switches. Preferably, the grid of the walkway gait device has at least three platforms to form a closed path loop.
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公开(公告)号：US20240130870A1
公开(公告)日：2024-04-25
申请号：US18530837
申请日：2023-12-06
CPC分类号： A61F2/72 , A61B5/1107 , A61B5/4519 , A61F2/582 , A61F2/70 , B25J9/1075 , G06F3/011 , G06F3/015 , G16H30/20 , A61F2002/6827
摘要： A system and method for controlling a device, such as a prosthetic limb are provided. A biomimetic controller of the system comprises a signal processor and a musculoskeletal model. The signal processor processes M biological signals received from a residual limb to transform the M biological signals into N activation signals, where M and N are integers and M is less than N. The musculoskeletal model transforms the N activation signals into intended motion signals. A prosthesis controller transforms the intended motion signals into three or more control signals that are outputted from an output port of the prosthesis controller. A controlled device receives the control signals and performs one or more tasks in accordance with the control signals.
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公开(公告)号：US20200253751A1
公开(公告)日：2020-08-13
申请号：US16722815
申请日：2019-12-20
申请人： West Virginia University , University of Pittsburgh - Of the Commonwealth System of Higher Education
发明人： Anton Sobinov , Sergiy Yakovenko , Valeriya Gritsenko , Matthew Boots , Robert Gaunt , Jennifer Collinger , Lee Fisher
摘要： A system and method for controlling a device, such as a virtual reality (VR) and/or a prosthetic limb are provided. A biomimetic controller of the system comprises a signal processor and a musculoskeletal model. The signal processor processes M biological signals received from a residual limb to transform the M biological signals into N activation signals, where M and N are integers and M is less than N. The musculoskeletal model transforms the N activation signals into intended motion signals. A prosthesis controller transforms the intended motion signals into three or more control signals that are outputted from an output port of the prosthesis controller. A controlled device receives the control signals and performs one or more tasks in accordance with the control signals.
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公开(公告)号：US11197769B2
公开(公告)日：2021-12-14
申请号：US16722815
申请日：2019-12-20
申请人： West Virginia University , University of Pittsburgh—Of the Commonwealth System of Higher Education
发明人： Anton Sobinov , Sergiy Yakovenko , Valeriya Gritsenko , Matthew Boots , Robert Gaunt , Jennifer Collinger , Lee Fisher
摘要： A system and method for controlling a device, such as a virtual reality (VR) and/or a prosthetic limb are provided. A biomimetic controller of the system comprises a signal processor and a musculoskeletal model. The signal processor processes M biological signals received from a residual limb to transform the M biological signals into N activation signals, where M and N are integers and M is less than N. The musculoskeletal model transforms the N activation signals into intended motion signals. A prosthesis controller transforms the intended motion signals into three or more control signals that are outputted from an output port of the prosthesis controller. A controlled device receives the control signals and performs one or more tasks in accordance with the control signals.
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9.发明授权公开(公告)号：US10751561B2
公开(公告)日：2020-08-25
申请号：US15991497
申请日：2018-05-29
发明人： Sergiy Yakovenko , Matthew Boots
摘要： Systems and methods are provided for enabling a split belt treadmill having two belts to self-pace. A feedback process estimates a first current step speed for a user on each belt by measuring stride length and step duration. A feed-forward process estimates a second current step speed for the user on each belt by measuring three forces and three moment components associated with foot contact with the belt. A command speed for each belt is produced by combining the first and second current step speeds with a Kalman filter. A belt speed associated with each belt is adjusted based upon the command speed.
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10.发明申请公开(公告)号：US20180345070A1
公开(公告)日：2018-12-06
申请号：US15991497
申请日：2018-05-29
发明人： Sergiy Yakovenko , Matthew Boots
摘要： Systems and methods are provided for enabling a split belt treadmill having two belts to self-pace. A feedback process estimates a first current step speed for a user on each belt by measuring stride length and step duration. A feed-forward process estimates a second current step speed for the user on each belt by measuring three forces and three moment components associated with foot contact with the belt. A command speed for each belt is produced by combining the first and second current step speeds with a Kalman filter. A belt speed associated with each belt is adjusted based upon the command speed.
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