Patents by Inventor Sergiy Yakovenko
Sergiy Yakovenko has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240130870Abstract: 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.Type: ApplicationFiled: December 6, 2023Publication date: April 25, 2024Inventors: Anton Sobinov, Sergiy Yakovenko, Valeriya Gritsenko, Matthew Boots
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Publication number: 20240082023Abstract: 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.Type: ApplicationFiled: July 24, 2023Publication date: March 14, 2024Inventors: Anton Sobinov, Sergiy Yakovenko, Valeriya Gritsenko, Russell Hardesty, Matthew Boots
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Patent number: 11744720Abstract: 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.Type: GrantFiled: September 18, 2018Date of Patent: September 5, 2023Assignee: WEST VIRGINIA UNIVERSITYInventors: Anton Sobinov, Sergiy Yakovenko, Valeriya Gritsenko, Russell Hardesty, Matthew Boots
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Publication number: 20230021860Abstract: 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.Type: ApplicationFiled: December 19, 2020Publication date: January 26, 2023Inventors: Anton Sobinov, Sergiy Yakovenko, Valeriya Gritsenko, Matthew Boots, Robert Gaunt, Jennifer Collinger, Lee Fisher
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Patent number: 11197769Abstract: 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.Type: GrantFiled: December 20, 2019Date of Patent: December 14, 2021Assignees: West Virginia University, University of Pittsburgh—Of the Commonwealth System of Higher EducationInventors: Anton Sobinov, Sergiy Yakovenko, Valeriya Gritsenko, Matthew Boots, Robert Gaunt, Jennifer Collinger, Lee Fisher
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Patent number: 10751561Abstract: 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.Type: GrantFiled: May 29, 2018Date of Patent: August 25, 2020Assignee: WEST VIRGINIA UNIVERSITYInventors: Sergiy Yakovenko, Matthew Boots
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Publication number: 20200265943Abstract: 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.Type: ApplicationFiled: September 18, 2018Publication date: August 20, 2020Inventors: Anton Sobinov, Sergiy Yakovenko, Valeriya Gritsenko, Russell Hardesty, Matthew Boots
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Publication number: 20200253751Abstract: 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.Type: ApplicationFiled: December 20, 2019Publication date: August 13, 2020Inventors: Anton Sobinov, Sergiy Yakovenko, Valeriya Gritsenko, Matthew Boots, Robert Gaunt, Jennifer Collinger, Lee Fisher
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Publication number: 20180345070Abstract: 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.Type: ApplicationFiled: May 29, 2018Publication date: December 6, 2018Inventors: Sergiy Yakovenko, Matthew Boots
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Patent number: 10058077Abstract: 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.Type: GrantFiled: December 8, 2017Date of Patent: August 28, 2018Assignee: West Virginia UniversityInventors: Sergiy Yakovenko, Matthew Boots, Ryan Ellison, Kiril Tuntevski
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Publication number: 20180168131Abstract: 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.Type: ApplicationFiled: December 8, 2017Publication date: June 21, 2018Inventors: Sergiy Yakovenko, Matthew Boots, Ryan Ellison, Kiril Tuntevski
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Patent number: 9839200Abstract: 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.Type: GrantFiled: September 8, 2016Date of Patent: December 12, 2017Assignee: West Virginia UniversityInventors: Sergiy Yakovenko, Matthew Boots, Ryan Ellison, Kiril Tuntevski
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Publication number: 20170064929Abstract: 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.Type: ApplicationFiled: September 8, 2016Publication date: March 9, 2017Inventors: Sergiy Yakovenko, Matthew Boots, Ryan Ellison, Kiril Tuntevski