US 11,896,503 B2
Methods for enabling movement of objects, and associated apparatus
Dario Farina, London (GB); Benjamin Lakey, London (GB); Ivan Vujaklija, London (GB); and Irene Mendez, London (GB)
Assigned to IMPERIAL COLLEGE INNOVATIONS LIMITED, London (GB)
Appl. No. 17/260,924
Filed by IMPERIAL COLLEGE INNOVATIONS LIMITED, London (GB)
PCT Filed Jul. 16, 2019, PCT No. PCT/GB2019/051982
§ 371(c)(1), (2) Date Jan. 15, 2021,
PCT Pub. No. WO2020/016567, PCT Pub. Date Jan. 23, 2020.
Claims priority of application No. 1811641 (GB), filed on Jul. 16, 2018.
Prior Publication US 2021/0259859 A1, Aug. 26, 2021
Int. Cl. A61F 2/72 (2006.01); A61B 5/389 (2021.01); A61B 5/00 (2006.01); A61F 2/54 (2006.01); A61F 2/70 (2006.01)
CPC A61F 2/72 (2013.01) [A61B 5/389 (2021.01); A61B 5/4851 (2013.01); A61B 5/6811 (2013.01); A61F 2/54 (2013.01); A61F 2/70 (2013.01); A61F 2002/704 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for enabling movement of an object, having a plurality of degrees of freedom, by a user, the method comprising:
receiving a first plurality of reference signals from one or more sensors associated with a first test subject, the first plurality of reference signals generated in response to a plurality of reference intended movements;
determining a set of first profiles based on the first plurality of reference signals and the plurality of reference intended movements;
receiving a second plurality of reference signals from one or more sensors associated with a second test subject, the second plurality of reference signals generated in response to a plurality of reference intended movements;
determining a set of second profiles based on the second plurality of reference signals and the plurality of reference intended movements;
determining profile-pairs, wherein each profile-pair comprises a first profile and a second profile that correspond to the same degree of freedom of the object;
determining a reference set of profiles based on a mathematical combination of the first profile and the second profile of each profile-pair; and
providing the reference set of profiles for determining an intended movement of the object based on a plurality of user signals received from one or more sensors associated with the user,
wherein the intended movement comprises simultaneous movements with respect to at least two degrees of freedom of the plurality of degrees of freedom; and
the object comprises a prosthetic limb device having one or more actuators that are configured to be controlled based on the plurality of user signals.