Claims:We claim,
1. A prosthetic device (100) comprising:
a gripper (102), having a plurality of digits (102a) and a contact portion (102b);
an attachment member (104) connected to the gripper (102), the attachment member (104) is adapted to be fitted into stump (200) or remnant arm of a user;
at least one sensor (106) in communication with at least one of the gripper (102), the attachment member (104) and the stump (200), the sensor (106) configured to generate at least one input signal;
a processing module (110) in communication with the sensor (106), the processing module (110) configured to receive the input signal from the sensor (106);
at least one actuator (108) in communication with the processing module (110), the actuator (108) configured to generate at least one output signal; and
a feedback module (112) in communication with the processing module (110) and the gripper (102).

2. The prosthetic device (100) as claimed in claim 1, wherein the prosthetic device (100) includes at least one slip detection sensor (114).
3. The prosthetic device (100) as claimed in claim 1, wherein the slip detection sensor (114) is configured to measure movement inside the attachment member (104) relative to the stump (200) including socket rotation and multidirectional socket slip.
4. The prosthetic device (100) as claimed in claim 1, wherein the prosthetic device (100) includes:
the gripper (102) having the plurality of digits (102a) for use with the prosthetic device (100);
a force sensor (106) configured to produce a force signal, the force sensor (106) being configured to be associated with the plurality of digits (102a) for the prosthetic device (100);
a force feedback actuator (108) configured to receive the force signal from the force sensor (106);
a force feedback processing module (110) in communication with the force feedback actuator (108) and the force sensor (106), the force feedback processing module (110) in communication with an electric motor or proprioception motor (116) to receive at least one feedback signal in order to provide feedback vibrations to the stump (200) on the user of the prosthetic device (100);
a housing enclosing the gripper (102), the attachment member (104), the force sensor (106), the force feedback actuator (108), and the force feedback controller (110) and to couple the prosthetic device to the stump (200); and
a power source in communication with the gripper (102), the attachment member (104), the force sensor (106), the force feedback actuator (108), and the force feedback controller (110).
5. The prosthetic device (100) as claimed in claim 1, wherein the digits (102a) and the contact portion (102b) include telescopic joints (102c).
6. The prosthetic device (100) as claimed in claim 1, wherein the digits (102a) and the contact portion (102b) include equivalent number of telescopic joints (102c) as in case of a human hand.
7. The prosthetic device (100) as claimed in claim 1, wherein the digits (102a) and the contact portion (102b) are adapted to be flexed and retracted using at least one of spring retraction means (102a1) (individual digit control or under actuated), tendon-based flexing and retraction (102a2) (individual digit control or underactuated), magnetic joints-based flexion and retraction (102a3), embedded rotor actuator-based joints (102a4) and a combination thereof.
8. The prosthetic device (100) as claimed in claim 1, wherein the gripper (102) is adapted to detect at least one of back-current, back-emf of the actuator (108), in order to drive an adaptive grip or force to hold an object of attention.
9. The prosthetic device (100) as claimed in claim 1, wherein the gripper (102) is adapted to sense at least one EMG (electromyography) signal, EEG (electroencephalogram) signal, EKG (electrocardiogram), muscle displacement, capacitance, sweat and electrical signals such as surface charge, surface potential, resistance, bio impedance and combination thereof.
10. The prosthetic device (100) as claimed in claim 1, wherein the gripper (102) is configured to activate a proprioception module of the prosthetic device (100) for the user.
11. The prosthetic device (100) as claimed in claim 1, wherein the gripper (102) is adapted to be separated from the attachment member (104) and further adapted to allow insertion of a predefined tool (102aa) selected from the group consisting of torch, brush, watch, telescopic joint, magnet, cellular model enabling voice commands and communication, 360’ torsion backward, paint and writing.
12. The prosthetic device (100) as claimed in claim 1, wherein the telescopic joints (102c) in the prosthetic device (100) is fastened by the use of at least one of bolts, rivets, and spring bars.
13. The prosthetic device (100) as claimed in claim 1, wherein the fitment or attachment member (104) includes a socket (104a) and a universal lever (104b) which is adapted to fit any size of the stump (200).
14. The prosthetic device (100) as claimed in claim 1, wherein the fitment or attachment member (104) is lined with a charcoal liner at inner portion of the attachment member to absorb moisture.
15. The prosthetic device (100) as claimed in claim 1, wherein the fitment or attachment member (104) is lined with a Non–Newtonian fluid pouch to retain the shape of the stump (200) of the user in sudden movements and adapted to fit different shapes in case of gradual movements and fitment.
16. The prosthetic device (100) as claimed in claim 8, wherein the socket (104a) is made using shape memory alloys to achieve exact stump profiles of the stump (200) of the user.
17. The prosthetic device (100) as claimed in claim 8, wherein the prosthetic device (100) is adapted to provide feedback to the user in at least one of proprioception, heat, sound, visual and combination thereof.
18. The prosthetic device (100) as claimed in claim 8, wherein the prosthetic device (100) is configured to automatically detect slip, detect direction of slip and make necessary adjustments to compensate the slip.
19. The prosthetic device (100) as claimed in claim 8, wherein the feedback module (112) is adapted to provide an array of patterns using feedback, by modulating a phase, frequency or amplitude of an analog or a digital control signals.
20. The prosthetic device (100) as claimed in claim 8, wherein the feedback module (112) is configured to control the functioning of the prosthetic device.
21. The prosthetic device (100) as claimed in claim 8, wherein the sensor (106) is selected from at least one of resistive, capacitive, inductive and combination of resistive, capacitive and inductive material along with conductive and insulative materials using additive manufacturing processes.
22. The prosthetic device (100) as claimed in claim 18, wherein the sensor (106) is made up of at least one of Velostat, piezo electric, Dielectric Elastomers, Conductive Fabrics, Thin Metal foils, and nanoscale materials.
23. The prosthetic device (100) as claimed in claim 1, wherein the prosthetic device (100) includes a proprioception cable (118a) which is connected between the feedback module (112) and the actuator (108).
24. A method (300) of operating the prosthetic device, said method comprising:
receiving at least one input signal from a user, by at least one sensor (106);
processing the received signal by a processing module (110);
extracting at least one feature based on the processed signal;
initiating an actuator driver based on the extracted feature;
recording at least one of force and position feedback of an actuator (108) and communicating a recorded data to the processing module (110); and
generating at least one output signal to based on a feedback received from the processing module (110).

25. The method of operating the prosthetic device as claimed in claim 24, wherein the output signal generates at least one signal to actuate a movement of the actuator (108).
, Description:TECHNICAL FIELD
[001] The embodiments herein generally relate to prosthetic devices, more particularly, to a prosthetic device having feedback systems and a method related thereof.
BACKGROUND
[002] Prosthetic limbs are well known and utilized by thousands of amputees. Preferably, a prosthetic limb is durable and lightweight, requires little or no maintenance, and includes suitable mechanical drive units, e.g., motors, for effecting desired movements and functions, and a power source for the drive units, such as a battery or batteries. In addition, a prosthetic limb is preferably aesthetically manufactured such that its size and shape is similar to the natural limb being replaced. Within these constraints, a prosthetic limb should also have the capability to perform various useful functions of the missing limb efficiently and in a smooth and consistent manner. Although reproducibility of the performance, at will, of all human limb function and motions has remained an elusive goal, much advancement has been made in prosthesis technology.
[003] The prosthetic devices are preferably controlled through electronic controller means such as a microprocessor. Sophisticated controllers comprising multiple input acceptance means for permitting the processing of input commands from various sources including myoelectric inputs, potentiometer inputs, accelerometer inputs, touch inputs, and electronic sensory inputs such as force, pressure, or temperature sensor inputs, are known in the art. Controllers comprising multiple output deliverance means for permitting either output proportional to input, i.e., open loop operation, or output proportional to the difference between the actual result and a desired result, i.e., closed loop operation are also known in the art.
[004] A problem with existing prostheses, however, is a lack of direct tactile sensory feedback relating to the force being exerted by the device upon an object or upon a surface. Further, the existing prosthesis devices do not permit the user an ability to touch and feel the object held in the prosthesis. The user always needs to rely on visual feedback to operate the prosthesis. Furthermore, the current prosthetic devices lack any form of proprioception.
[005] Therefore, there exists a need for a prosthetic device having feedback systems which eliminates the above-mentioned drawbacks.

OBJECTS
[006] The principal object of an embodiment of this invention is to provide a prosthetic device having feedback systems.
[007] Another object of an embodiment of this invention is to provide a finger and arm prosthetic device having mechanical structure and wearable tactile feedback system to operate prosthesis similarly to a human finger and arm.
[008] Yet another object of an embodiment of this invention is to provide a method of operating a prosthetic device similarly to a human finger and arm.
[009] These and other objects of the embodiments herein will be better appreciated and understood when considered in conjunction with the following description and the accompanying drawings. It should be understood, however, that the following descriptions, while indicating embodiments and numerous specific details thereof, are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the embodiments herein without departing from the spirit thereof, and the embodiments herein include all such modifications.

BRIEF DESCRIPTION OF DRAWINGS
[0010] The embodiments of the invention are illustrated in the accompanying drawings, throughout which like reference letters indicate corresponding parts in the various figures. The embodiments herein will be better understood from the following description with reference to the drawings, in which:
[0011] FIG. 1 depicts a perspective view of a prosthetic device, according to an embodiment of the invention as disclosed herein;
[0012] FIG. 2 depicts a perspective view of an attachment member of the prosthetic device, according to an embodiment of the invention as disclosed herein;
[0013] FIG. 3 depicts a perspective view of a portion of the prosthetic device showing fastening of digits of a gripper, according to an embodiment of the invention as disclosed herein;
[0014] FIG. 4a and 4b depicts a perspective view of a magnetic joint and an embedded rotor actuated joints for gripper, according to an embodiment of the invention as disclosed herein;
[0015] FIG. 4c and 4d depicts a perspective view of a spring-based retraction spring and tendon-based retraction for gripper, according to an embodiment of the invention as disclosed herein.
[0016] FIG. 5 depicts a perspective view of a replaceable joint attached to the gripper, according to an embodiment of the invention as disclosed herein;
[0017] FIG. 6 depicts a perspective view of the gripper showing telescopic joints, according to an embodiment of the invention as disclosed herein; and
[0018] FIG. 7a, 7b and 7c depicts a perspective view of a universal socket having a telescopic rod to attach with a stump socket for adjusting arm length, according to an embodiment of the invention as disclosed herein;
[0019] FIG. 8 depicts a block diagram of slip compensation module, according to an embodiment of the invention as disclosed herein;
[0020] FIG. 9 depicts a block diagram of communication system between prosthetic device and a user, according to an embodiment of the invention as disclosed herein;
[0021] FIG. 10 depicts a block diagram of modules of a prosthetic device disposed in housing, according to an embodiment of the invention as disclosed herein; and
[0022] FIG. 11 depicts a method of operating a prosthetic device, according to an embodiment of the invention as disclosed herein.

DETAILED DESCRIPTION
[0023] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0024] The embodiments herein achieve a prosthetic device having feedback systems. Furthermore, the embodiments herein achieve a finger and arm prosthetic device having mechanical structure and wearable tactile feedback system to operate prosthesis similarly to a human finger and arm. Referring now to the drawings and more particularly to FIGS. 1 through 7c, where similar reference characters denote corresponding features consistently throughout the figures, there are shown embodiments.
[0025] FIG. 1 depicts a perspective view of a prosthetic device, according to an embodiment of the invention as disclosed herein. In an embodiment, the prosthetic device (100) is used for stump or residual hand or arm. The prosthetic device (100) includes a gripper (102), a plurality of digits (102a), a contact portion (102b), an attachment member (104), at least one sensor (106) or sensor module, at least one actuator (108) or actuator module, a processing module (110), a feedback module (112), a housing (not shown), and a power module (120).
[0026] The prosthetic device (100) includes the gripper (102). The gripper (102) includes the plurality of digits (102a) and the contact portion (102b). The plurality of digits may be considered to resemble to fingers of a human hand, similarly, the contact portion (102b) may be considered to be forearm portion of the human hand. The digits (102a) and the contact portion (102b) of the gripper (102) include telescopic joints (102c). The telescopic joints (102c) increase the reach of the user of the prosthetic device (100). The telescopic joints (102c) in the prosthetic device (100) is fastened by the use of at least one of bolts, rivets, and spring bars as shown in FIGS. 3 and 6. In an embodiment, the digits (102a) and the contact portion (102b) may include equivalent number of telescopic joints (102c) as in case of a human hand. The digits (102a) and the contact portion (102b) are adapted to be flexed and retracted using at least one of spring retraction means (individual digit control or under actuated), tendon-based flexing and retraction (individual digit control or underactuated), magnetic joints-based flexion and retraction, embedded rotor actuator-based joints and a combination thereof as shown in FIGS. 4a-4d. The gripper (102) is adapted to detect at least one of back-current, back-emf of the actuator (108), in order to drive an adaptive grip or force to hold an object of attention. Further, the gripper (102) is adapted to sense at least one EMG (electromyography) signal, EEG (electroencephalogram) signal, EKG (electrocardiogram), muscle displacement, capacitance, sweat and electrical signals such as surface charge, surface potential, resistance, bio impedance and combination thereof. Furthermore, the gripper (102) is configured to activate a proprioception module of the prosthetic device (100) for the user. In an embodiment, the gripper (102) is adapted to be separated from the attachment member (104) i.e. the digits (102a) or the hand portion can be separated from the stump (200). As shown in FIG. 5, the gripper (102) is adapted to allow insertion of a predefined tool (102aa) selected from the group consisting of torch, brush, watch, telescopic joint, magnet, cellular model enabling voice commands and communication, both sides gripping digit, painting tool and writing tool.
[0027] The prosthetic device (100) further includes the attachment member (104) as shown in Fig. 2 and 7a-7c. The fitment or attachment member (104) includes a universal socket (104a) which is adapted to fit any size of the stump (200). The fitment or attachment member (104) is lined with a charcoal liner at inner portion of the attachment member to absorb moisture. Further, the fitment or attachment member (104) is lined with a Non–Newtonian fluid pouch to retain the shape of the stump (200) of the user in sudden movements and adapted to fit different shapes in case of gradual movements and fitment. The attachment member (104) further includes a socket screw as shown in FIG. 7a. The socket screw may further include a telescopic rod or a linear actuator. The telescopic rod facilitates in adjusting a length of the socket screw. The attachment member (104) includes the universal socket (104a) which includes a plurality of belts along with adjustable straps to hold the attachment member (104) with the stump as shown in FIG. 7b. The attachment member (104) is adapted to detect slip and also indicate the direction of slip and alert the user of slipping of the gripper. In an embodiment, various apparatus such as a tracking ball, mini joystick, optical sensors as used in computer mouse, sensors like accelerometers, gyroscopes, inertial measurement units are used for detecting slip or turning of the socket in any direction.
[0028] The prosthetic device (100) includes the at least one sensor (106). The sensor (106) is provided in communication with at least one of the gripper (102), the attachment member (104) and the stump (200). In an embodiment, the prosthetic device (100) may include a plurality of sensors. These sensors (106) are configured to generate at least one input signal. The sensors (106) are selected from at least one of resistive, capacitive, inductive and combination of resistive, capacitive and inductive material along with conductive and insulative materials using additive manufacturing processes. Further, the sensors (106) may be made up of at least one of Velostat, piezo electric, Dielectric Elastomers, Conductive Fabrics, Thin Metal foils, nanoscale materials and the like. In an embodiment, the sensor (106) maybe coupled or disposed on the stump (200) as a sensor pad. The sensor pad is adapted to collect information such as touch, grip, vibration, force, temperature, texture about a system and its surroundings.
[0029] The prosthetic device (100) further includes the at least one actuator (108). The actuator (108) is configured to generate at least one output signal based on the input signal from the sensor (106). Further, the actuator (108) is provided in communication with the processing module (110).
[0030] The prosthetic device (100) includes at least one slip detection sensor (114). The slip detection sensor (114) is configured to measure movement inside the attachment member (104) relative to the stump (200) including socket rotation and multidirectional socket slip. In an embodiment, the slip detection sensor (114) is embedded or mounted on the attachment member (104).
[0031] Furthermore, the prosthetic device (100) includes the processing module (110). The processing module (110) is provided in communication with the sensor (106) and the actuator (108). The processing module (110) configured to control functioning of the prosthetic device (100). Further, the processing module (110) is configured to generate at least one signal to operate the actuator (108). All the modules of the prosthetic device (100) are configured to communicate with each other by at least one of wire or wireless network connectivity. There are two embodiments for the connectivity between the prosthetic device (100) and the user. In one embodiment, the prosthetic device (100) and the user are connected together (i.e. the device (100) and the user are connected by wire or wirelessly). In second embodiment, the prosthetic device (100) and the user are not in vicinity of each other (i.e. the device (100) and the user are connected wirelessly as shown in FIG. 9. Examples of wireless mode includes but not limited to Wi-Fi, RF, Bluetooth, IR.
[0032] The prosthetic device (100) further includes the feedback module (112). The feedback module (112) is provided in communication with the processing module (110) and the actuator (108). The feedback module (112) is adapted to provide an array of patterns using feedback, by modulating a phase, frequency or amplitude of an analog or a digital control signals. Further, the feedback module (112) is configured to control the functioning of the prosthetic device. In an embodiment, the feedback module (112) may be used during the training phase, on concept of the muscle memory, to train the users about the control signals they give to the prosthesis and the corresponding function that the prosthesis will perform. The prosthetic device (100) is capable of giving feedback to the user in forms of proprioception, heat, sound, visual etc. In an embodiment, the functions of the prosthetic device (100), like opening, closing, increase or reduction in length or the arms or fingers, wrist rotation, wrist pitch, grip force, texture, temperature, detection of sweat, detection of slip of the socket but not limited to these, would be passed on to the user by the feedback module (112). Furthermore, the feedback module could have “m” number of element while there maybe “n” number of input signals to the system. Where all the cases of mn are possible.
[0033] The prosthetic device (100) further includes a housing as shown in FIG. 10. The housing is configured to enclose all the components of the prosthetic device (100). For example, the housing is configured to enclose the gripper (102), the attachment member (104), the sensor (106), the actuator (108), and the processing module (110). Further, the housing is adapted to couple the prosthetic device (100) to the stump (200).
[0034] The prosthetic device (100) further includes a power source (not shown). The power source is provided in communication with the gripper (102), the attachment member (104), the sensor (106), the actuator (108), the processing module (110) and the feedback module (112).
[0035] For the purpose of explanation and ease understanding a prosthetic device (100) with force sensing sensor and force feedback module is considered and explained below. The prosthetic device (100) may include the gripper (102) having the plurality of digits (102a) for use with the prosthetic device (100). Further, the device (100) may include a force sensor (106) configured to produce a force signal. The force sensor (106) is configured to be associated with the plurality of digits (102a) for the prosthetic device (100). The device (100) further includes a force feedback actuator (108) which is configured to receive the force signal from the force sensor (106). Furthermore, the device (100) may include a force feedback controller (110) in communication with the force feedback actuator (108) and the force sensor (106). The force feedback controller (110) provided in communication with an electric motor or proprioception motor (116) to receive at least one feedback signal in order to provide feedback vibrations to the stump (200) on the user of the prosthetic device (100).
[0036] The prosthetic device (100) includes a slip compensation module as shown in FIG. 8. The slip compensation module includes a slip and roll detection sensor (119), a proprioception cable (118a) (as shown in FIG. 1), and a proprioception actuator (118b) which is connected between the feedback module and the actuator (108). The slip compensation module includes a slip compensation algorithm to alert the user in case of slip. The linear actuation and/or rotation. The proprioception cable (118) facilitates in holding and tightening the attachment member (104) with the stump of the user. The feedback module (112) is adapted to operate the proprioception actuator (118b) based on the slip algorithm via the proprioception cable (118a). The roll or linear motion of the attachment member (104) is alerted to the user by feedback module (112), which then operates the proprioception cable (118) to tighten against the stump of the user. In an embodiment, the user can feel the tightening or loosening of the socket of the attachment member (104).
[0037] The prosthetic device (100) further includes a force feedback module (112) which is provided in communication with the force feedback controller (110) and the force feedback actuator (108). Thus the force feedback controller (110) and the force feedback actuator (108) facilitate in functioning of the prosthetic device (100).
[0038] A method for operating the prosthetic device is disclosed. The method includes, at step (302) receiving at least one input signal from a user, by at least one sensor (106). At step 304, the method includes processing the received signal by a processing module (110). At step 306, the method includes extracting at least one feature based on the processed signal. At step 308, the method includes initiating an actuator driver based on the extracted feature. At step 310, the method includes recording at least one of force and position feedback of an actuator (108) and communicating a recorded data to the processing module (110). At step 312, the method includes generating at least one output signal to based on a feedback received from the processing module (110). Further the method includes a step 314 of actuating a movement to the actuator (108) by the generated output signal.
[0039] Further, the method includes a feedback module (112) provided in communication with processing module (110) to receive at least one feedback signal in order to provide feedback vibrations to the stump (200) on the user of the prosthetic device (100). The feedback may be at least one of a visual feedback, vibro-tactile feedback, a temperature feedback, an audio feedback and an electro-tactile feedback.
[0040] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the embodiments as described herein.