Patent Application
20150066155
The present disclosure relates to prosthetic devices. More particularly, the present disclosure relates to charging prosthetic devices.
Many modern prosthetic devices are electrically powered to provide actuation or damping of the prosthetic device. While such powered prosthetic devices can provide a more natural motion, the mobile nature of prosthetic devices generally requires the use of a power storage unit such as a rechargeable battery to power the prosthetic device. Charging the power storage unit usually involves plugging a power supply into the prosthetic device. While the power storage unit charges, movement of the prosthetic device is restrained by a cable connected to the power supply or the prosthetic device must be removed. Plugging a power supply into the prosthetic device also typically requires a power input jack on the prosthetic device which can compromise the prosthetic device's resistance to environmental conditions such as dirt, moisture and water. In addition, charging a prosthetic device using a power input jack may require removal of an outer skin or a hole in an outer skin in order to access the power input jack. The outer skin can enclose the prosthetic device to provide a more natural and aesthetic appearance. Removing the outer skin or providing a hole in the outer skin adversely affects the aesthetic appearance of the device or can require additional effort in removing the outer skin.
In view of the foregoing, the present disclosure involves wirelessly charging a prosthetic device via magnetic coupling. To further improve the freedom of movement of the prosthetic device while charging, some aspects of the present disclosure involve wirelessly charging a prosthetic device using resonant magnetic coupling. Traditional magnetic induction methods of charging devices typically rely on a tight coupling between transmitter and receiver coils to maintain a power transfer efficiency. Resonant magnetic coupling can allow for a farther distance between transmitter and receiver coils so as to improve the freedom of movement while charging and to allow for the simultaneous charging of multiple prosthetic devices.
According to one embodiment, a prosthetic device includes a power storage unit to power the prosthetic device and an electromagnetic receiver including a plurality of coils arranged about a portion of the prosthetic device. The electromagnetic receiver is configured to receive a magnetic field from an electromagnetic transmitter magnetically coupled with the electromagnetic receiver and to generate electric power from the magnetic field. Circuitry of the prosthetic device is configured to store the electric power generated from the magnetic field in the power storage unit.
By arranging a plurality of coils about a portion of the prosthetic device, it is ordinarily possible to allow for charging from different angles between the prosthetic device and the electromagnetic transmitter. In some embodiments, the magnetic field is a resonanting magnetic field with a resonant frequency of the electromagnetic receiver.
According to another embodiment, the present disclosure includes an electromagnetic transmitter including circuitry configured to receive electric power from a power supply. A plurality of coils of the electromagnetic transmitter is configured to generate a magnet field using the electric power to magnetically couple with an electromagnetic receiver of a prosthetic device. In one aspect, the electromagnetic transmitter is further configured to generate a resonating magnetic field with a resonant frequency of the electromagnetic receiver of the prosthetic device.
The features and advantages of the embodiments of the present disclosure will become more apparent from the detailed description set forth below when taken in conjunction with the drawings. The drawings and the associated descriptions are provided to illustrate embodiments of the disclosure and not to limit the scope of what is claimed.
In the following detailed description, numerous specific details are set forth to provide a full understanding of the present disclosure. It will be apparent, however, to one of ordinary skill in the art that the various embodiments disclosed may be practiced without some of these specific details. In other instances, well-known structures and techniques have not been shown in detail to avoid unnecessarily obscuring the various embodiments.
EM transmitter 104 is powered by power supply 102 and is configured to transmit magnetic field 124 to EM receiver 112 of prosthetic device 106. As will be discussed in more detail below, power supply 102 can be an alternating current (AC) power supply (e.g., from a wall outlet) or a direct current (DC) power supply (e.g., from a battery or wall power adapter).
In the example of
In one implementation, each of EM transmitter 104 and EM receiver 112 can include a plurality of coils or inductors electrically connected to one or more tuning capacitors for tuning to a frequency, f, which can be represented as shown in Equation 1 below:
where L is an inductance of the plurality of coils at resonance and C is a capacitance of the at least one tuning capacitor for the plurality of coils. Power transfer efficiency through resonance can be improved by reducing resistance in the transmitting or receiving coils.
In some implementations, EM transmitter 104 can include different inductors and/or capacitors for generating magnetic fields at different frequencies. In this regard, the tuning capacitor can include a variable capacitor for tuning to different frequencies. In yet other implementations, EM transmitter 104 can include a chipset or integrated circuit for generating a magnetic field.
EM transmitter 104 can also include circuitry for communicating with prosthetic device 106 or controlling operation of EM transmitter 104. Such circuitry can include, for example, a controller, a processor, wireless communication chipset, or an application-specific integrated circuit (ASIC) which executes computer-readable instructions stored in a memory of EM transmitter 104.
As shown in
EM receiver 112 can also include circuitry for controlling operation of EM receiver 112. Such circuitry can include, for example, a controller, a processor, a wireless communication chipset, or an ASIC for executing computer-readable instructions stored in a memory of prosthetic device 106.
Although inductive chargers, such as those used for electric toothbrushes, can provide wireless charging, such inductive charging systems generally require that the power transmitter and the power receiver are spatially aligned with each other. This would require a user of a prosthetic device to remove the prosthetic device for charging or keep the prosthetic device in a fixed position while charging. As with wired charging, keeping the prosthetic device in a fixed position would be cumbersome for the user of the prosthetic device as it limits mobility of the prosthetic device and introduces charge time inefficiencies when the transmitter and the receiver are not properly aligned.
By tuning EM transmitter 104 and EM receiver 112 to approximately the same resonant frequency, EM transmitter 104 and EM receiver 112 do not need to be closely aligned and the distance between them can be increased so that EM transmitter 104 can be remote from prosthetic device 106 while still transferring power to prosthetic device 106. In some implementations, the amount of distance between EM transmitter 104 and EM receiver 112 can vary from several inches to over ten feet. Moreover, it is ordinarily possible to transfer power to prosthetic device 106 without having to remove prosthetic device 106 or restrict a user's movement of prosthetic device 106. In addition, EM resonant wireless charging can allow for simultaneous charging of multiple prosthetic devices, which can be especially useful for users with multiple prosthetic devices.
In some implementations, circuitry of EM transmitter 104 can adjust an amount of electric power used from power supply 102 to dynamically adjust for changes in the position of prosthetic device 106 or to dynamically adjust to charging additional devices while maintaining a real-time communication link. In another implementation, EM transmitter 104 may use between 10 and 20 Watts from power supply 102 to generate magnetic field 124. EM transmitter 104 may then vary the amount of power between 10 and 20 Watts based on a reflected power in magnetic field 124 that is not received by EM receiver 112 and is reflected back to EM transmitter 104.
A decrease in the reflected power can indicate that more devices are being charged or that the positioning of prosthetic device 106 has changed such that more of the transmitted power is received by EM receiver 112. In such an example, EM transmitter 104 may then increase the power used from power supply 102 toward an upper power limit so as to transfer more power via magnetic field 124.
On the other hand, an increase in the reflected power reflected back to EM transmitter 104 can indicate that less of the transmitted power is being received. In one implementation, if the reflected power exceeds a threshold, EM transmitter 104 may first increase the power used from power supply 102 to increase a range of magnetic field 124. If the proportion of reflected power to transmitted power does not decrease after increasing the power used, EM transmitter 104 may then determine that prosthetic device 106 is no longer within a range to efficiently receive magnetic field 124. EM transmitter 104 may then stop generating magnetic field 124 and enter a low power or standby state.
Adjustments to the power used to generate magnetic field 124 can also be made based on digital communications between EM transmitter 104 and prosthetic device 106 using a wireless communications link such as, for example, a Bluetooth Low Energy or a wireless Ethernet communications link. In this regard, each of EM transmitter 104 and prosthetic device 106 can include a wireless communication module or chipset so that EM transmitter 104 can adjust a frequency or a power used to generate magnetic field 124 based on information received from prosthetic device 106 concerning a location or charging efficiency of EM receiver 112.
In some implementations, EM transmitter 104 and EM receiver 112 may also operate in accordance with a particular wireless charging standard, such as Qualcomm's WiPower standard, A4WP's Rezence standard, or the Wireless Power Consortium's Qi standard.
As shown in the example of
Electronics 118 can include controls for actuation and/or damping of prosthetic device 106 and electronics for communication with other devices. In this regard, electronics 118 can include at least one of a motor, a valve, a sensor, or a controller for actuating or damping a movement of prosthetic device 106.
In one implementation, electronics 118 also includes an antenna for receiving a radio frequency (RF) beacon transmitted from EM transmitter 104. In such an implementation, EM transmitter 104 can periodically transmit beacons and electronics 118 can respond by transmitting device information to EM transmitter 104. The communication between EM transmitter 104 and electronics 118 may be in accordance with a particular communications protocol such as Bluetooth. The device information can indicate different frequencies at which EM receiver 112 can tune to for receiving power from EM transmitter 104 via magnetic field 124. EM transmitter 104 may then select a frequency to tune to based on the device information received from prosthetic device 106.
In other implementations, the device information may include information about prosthetic device 106 such as a proximity or alignment indication for EM receiver 112 with respect to EM transmitter 104, an average power usage rate, or information about BMS 114, such as at least one of a charging efficiency, a state of charge, a charge capacity, and an average or estimated charge time. EM transmitter 104 may use this device information to adjust the rate at which power is transferred to EM receiver 112 by changing the amount of power used from power supply 102 to generate magnetic field 124. For example, if the device information indicates that the current charge level is fully charged, EM transmitter 104 may select a lower rate or power at which to transfer power to EM receiver 112. In another example, if the device information indicates a long estimated charge time, EM transmitter 104 may select a higher rate or power at which to transfer power to EM receiver 112.
In some implementations, the device information may be wirelessly transmitted to a mobile device such as a cellular phone or tablet to allow an application on the mobile device to display prosthetic device information to a user. Such prosthetic device information can include information concerning a proximity or alignment of EM receiver 112 with respect to EM transmitter 104, an average power usage rate, a charging efficiency, a state of charge, a charge capacity, and an average or estimated charge time.
In the example embodiment of
EM receiver 220 includes a plurality or array of coils 222 that are arranged adjacent to one another so that the diameters of coils 222 completely surround portion 224 of prosthetic device 206. As shown in
By arranging coils 222 about portion 224, it is ordinarily possible to increase the freedom of motion of prosthetic device 206 while charging since EM receiver 220 is capable of receiving a magnetic field from different angles. In other words, the rotation or angle of prosthetic device 206 may change with respect to an EM transmitter while charging since different coils 222 may be used in varying degrees depending upon the relative position of the coil with respect to the EM transmitter. The use of multiple coils 222 can also increase the amount of electric power generated from the magnetic field by providing for better magnetic coupling with the EM transmitter.
As shown in
EM receiver 320 also includes circuitry 326 which is configured to store electric power generated by coils 322 in a power storage unit. Circuitry 326 is electrically connected to each of coils 322 via traces 316 and 318. Electric power generated by coils 322 travels along traces 316 and 318 to circuitry 326, which can include a summing circuitry to add the electric power generated by coils 322 before storing the electric power in a power storage unit via power output 328. In some embodiments, circuitry 326 can also include a full wave rectifier or a regulator circuit to convert AC power into DC power for charging a power storage unit.
Although there is a small lateral gap between each coil of coils 422 and each coil of coils 430, the coils are arranged such that the coils of flexible circuit 422 are laterally offset from the coils of flexible circuit 432 so as to provide increased coverage for receiving a magnetic field. The coils of both flexible circuits may be connected to one another using the same traces on one of the flexible circuits may or may use separate traces or wiring.
EM receiver 420 of
Each of EM transmitters 504 and 508 is constructed to secure to a building structure and placed in relation to a different area of building 510. In particular, EM transmitter 504 is placed above room 512 of building 510 and transmitter 508 is placed above room 514 of building 510. By locating EM transmitters 504 and 508 in different areas of building 510, a user of prosthetic device 506 can continue to charge prosthetic device 506 even when they move from room 512 to room 514, or vice-versa. In this regard, EM transmitters can be strategically placed within a building to allow for continuous charging of a prosthetic device or devices as a user moves throughout the building.
Although the embodiment of
In addition to prosthetic device charging system 500 including EM transmitters 504 and 508,
In the example of
In the example of
Portable EM transmitter 612 is secured onto a portion of the car seat and is electrically connected to portable EM transmitter 604 to receive power from power supply 602 via portable EM transmitter 604. This arrangement of transmitters can provide for charging coverage in both a horizontal direction with EM transmitter 604 and in a vertical direction with EM transmitter 612.
EM transmitter 612 may be detachably secured onto the interior of the automobile using, for example, Velcro, a magnet, a strap, or a clip. Both EM transmitters 604 and 612 can be moved to different locations such as to different areas of the automobile, a different automobile, or to different locations at an office or home. Other embodiments may include only one of portable EM transmitter 604 or 612 without the other.
As with EM transmitters 104, 504, 508, and 522, portable EM transmitters 604 and 612 include a plurality or array of coils for generating a magnetic field to magnetically couple with an EM receiver of a prosthetic device. By tuning EM transmitters 604 and 612 to a resonant frequency of the EM receiver, the prosthetic device can wirelessly charge while allowing movement of the prosthetic device.
In the example of
As shown in
In one embodiment, one or both of attachment portions 710 and 712 can include a magnet that can be used to secure EM transmitter 702 onto a prosthetic device. The magnet may also be used to properly align EM transmitter 702 laterally or vertically onto the prosthetic device by securing EM transmitter 702 onto a corresponding magnet located near an EM receiver of the prosthetic device. Such alignment of EM transmitter 702 can help to ensure a more efficient alignment of coils 704 with respect to the coils of an EM receiver of the prosthetic device. In other embodiments, EM transmitter 702 can use other alignment indicators to indicate when EM transmitter 702 is properly aligned with respect to an EM receiver of the prosthetic device. Such indicators can include a marking that corresponds to another marking on the prosthetic device, a user application on a cellular phone or other mobile device, or an LED.
In the example embodiment of
EM transmitter 702 also includes circuitry 722 which is configured to receive power from a power supply via power cord 720. Circuitry 722 is electrically connected to each of coils 704 via traces 716 and 718 to deliver power to coils 704 for generating a magnetic field.
In one embodiment, one or both of attachment portions 810 and 812 can include a magnet that can be used to secure EM transmitter 802 onto a prosthetic device. The magnet may also be used to properly align EM transmitter 802 laterally or vertically onto the prosthetic device by securing the attachment portion onto a corresponding magnet located near an EM receiver of the prosthetic device. Such alignment of EM transmitter 802 can help to ensure a more efficient alignment of coils 804 with respect to the coils of an EM receiver of the prosthetic device. Other embodiments may use different alignment indicators such as a marking that corresponds to another marking on the prosthetic device or an LED to indicate when EM transmitter 702 is properly aligned with respect to an EM receiver of the prosthetic device.
As shown in
Although there is a small lateral gap between each coil of coils 804 and each coil of coils 824, the coils are arranged such that the coils of flexible circuit 808 are laterally offset from the coils of flexible circuit 822 so as to provide increased coverage in transmitting a magnetic field. The coils of both flexible circuits may be connected to one another using the same traces or wiring on one of the flexible circuits or may use separate traces or wiring. EM transmitter 802 also includes circuitry 818 which receives power via power supplying circuit 820 and delivers power to coils 804 and 824.
In block 904, circuitry of EM transmitter 104 receives device information in response to the beacon. As discussed above, the device information can include information about a prosthetic device such as identifying information, particular frequencies that the device can tune to, an average power usage of the device, or information about its power storage unit. After receiving the device information, EM transmitter 104 may exit its low power state and enter a transmission state for charging a prosthetic device such as prosthetic device 206 in
In other embodiments, blocks 902 and 904 may be omitted such that EM transmitter 104 does not transmit a beacon or receive device information before generating a magnetic field. In such embodiments, EM transmitter 104 may instead periodically generate a magnetic field and measure a level of reflected power to determine whether there is a device within an effective range that can be charged. In other embodiments, EM transmitter 104 may continuously generate a magnetic field without entering a low power state.
In block 906, coils of EM transmitter 104 generate resonating magnetic field 124 at a frequency that can be based on the device information received in block 904. In some embodiments, the frequency is within the range of 100 kHz and 10 MHz. Circuitry of EM transmitter 104 may also set in block 906 an initial power used from a power supply for generating the magnetic field.
In block 908, circuitry of EM transmitter 104 adjusts the power used to generate the magnetic field based on a reflected power or updated device information. The reflected power may be expressed as a proportion of the power used to generate the magnetic field. As discussed above, the circuitry of EM transmitter 104 may increase the power used if the reflected power decreases since this may indicate that additional devices are charging with the magnetic field. The circuitry of EM transmitter 104 may also temporarily increase the power used to generate the magnetic field if the reflected power increases since this may indicate that the prosthetic device is farther away from EM transmitter 104. This temporary increase in power can serve as a test to determine whether the prosthetic device is still within an effective range for charging.
EM transmitter 104 may also use updated device information received from prosthetic device 106 via a digital wireless communications link. The updated device information can indicate a position or charging efficiency of prosthetic device 106. If the updated device information indicates that prosthetic device 106 is far away or is not charging efficiently, EM transmitter 104 may increase the power used to generate the magnetic field.
In other embodiments, block 908 may be omitted such that the power used to generate the magnetic field could be a fixed power level.
In some implementations, the circuitry of EM transmitter 104 can determine in block 908 to stop generating the magnetic field if a reflected power reaches or exceeds a threshold or if the updated device information indicates that prosthetic device 106 is too far away or no longer charging. For example, a threshold for the reflected power can be a value such as 80% of the power used to generate the magnetic field. A reflected power greater than or equal to the threshold may indicate that prosthetic device 106 is too far away for charging. In other embodiments, block 908 may be omitted such that EM transmitter 104 does not enter a low power state but rather continues to generate a magnetic field regardless of the reflected power or the receipt of any updated device information.
In block 910, the circuitry of EM transmitter 104 optionally receives updated device information from prosthetic device 106 indicating a state of charge for prosthetic device 106. In this regard, prosthetic device 106 may periodically transmit updated device information indicating a current state of charge. EM transmitter 104 may then stop generating the magnetic field in block 912 in response to receiving device information indicating that prosthetic device 106 is fully charged.
In block 1004, electronics 118 transmits device information to the EM transmitter via a wireless communications link using an antenna of electronics 118. Electronics 118 may also wirelessly transmit device information to a mobile device running an application for monitoring prosthetic device 106. The transmitted device information can include information about prosthetic device 106 such as identifying information, a resonant frequency or other frequencies that EM receiver 112 can tune to, an average power usage of prosthetic device 106, positioning or alignment information for charging, or information about BMS 114.
In other embodiments, blocks 1002 and 1004 may be omitted such that prosthetic device 106 does not receive a beacon from an EM transmitter or does not transmit device information.
In block 1006, coils of EM receiver 112 receive a resonating magnetic field from the remote EM transmitter. As discussed above, coils of EM receiver 112 are magnetically coupled with the EM transmitter at a frequency so as to allow for less alignment between the remote EM transmitter and EM receiver 112.
In block 1008, coils of EM receiver 112 generate electric power from the resonating magnetic field. In block 1010, the generated electric power is converted from AC power to DC power using BMS 114 and the converted DC power is stored in power storage unit 116 of BMS 114.
In block 1011, electronics 118 optionally transmits updated device information to the EM transmitter and a mobile device. The updated device information can indicate a current state of charge, a position or alignment, or a charging efficiency for prosthetic device 106.
In block 1012, electronics 118 determines whether power storage unit 116 is fully charged. If so, the charging process of
By magnetically coupling the EM transmitter with EM receiver 112 at a resonant frequency of EM receiver 112, it is ordinarily possible to wirelessly charge prosthetic device 106 without maintaining a tight alignment between the EM transmitter and EM receiver 112. This can generally allow for a user of prosthetic device 106 to freely move prosthetic device 106 while it is charging without having to remove prosthetic device 106. In addition, such wireless charging ordinarily allows for prosthetic device 106 to be better sealed from environmental conditions by not needing an exterior electrical connection for charging, which may otherwise require removal of an exterior cover while charging. Furthermore, EM resonant, wireless charging can allow for simultaneous charging of multiple prosthetic devices.
Those of ordinary skill in the art will appreciate that the various illustrative logical blocks, modules, and processes described in connection with the examples disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. Furthermore, the foregoing processes can be embodied on a computer readable medium which causes a processor or computer to perform or execute certain functions.
To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, and modules have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Those of ordinary skill in the art may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The various illustrative logical blocks, units, modules, and controllers described in connection with the examples disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor (DSP), an ASIC, a wireless communication chipset, a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The foregoing description of the disclosed example embodiments is provided to enable any person of ordinary skill in the art to make or use the embodiments in the present disclosure. Various modifications to these examples will be readily apparent to those of ordinary skill in the art, and the principles disclosed herein may be applied to other examples without departing from the spirit or scope of the present disclosure. The described embodiments are to be considered in all respects only as illustrative and not restrictive.
This application claims the benefit of U.S. Provisional Application No. 61/870,704 (Atty Docket No. 2919-32732.PROV), filed on Aug. 27, 2013, which is hereby incorporated by reference in its entirety. This application also claims the benefit of U.S. Provisional Application No. 61/907,975 (Atty Docket No. 54919-03450), filed on Nov. 22, 2013, the contents of which is hereby incorporated by reference in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| 61870704 | Aug 2013 | US | |
| 61907975 | Nov 2013 | US |
